Encoder-based intelligent event-triggered control method, device, equipment and medium

Abstract

This application relates to an encoder-based intelligent event-triggered control method, apparatus, device, and medium. The method includes: outputting a first control output and a second control output respectively through the controlled object and controller of a nonlinear networked control system model, and sampling them in a sensor to obtain sampling parameters; determining whether an event has been triggered based on the sampling parameters through an event triggering mechanism; if the event is triggered, outputting a trigger moment output signal through the event triggering mechanism, and encoding the trigger moment output information through an encoder to obtain encoded parameters; transmitting the encoded parameters through a network to a decoder for decoding to obtain decoded parameters, and transmitting the decoded parameters to the receiving end through a zero-order hold. This invention avoids situations where the communication network cannot transmit signals normally and the system loses control during DoS attacks, thus improving the performance and stability of the nonlinear networked control system.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an encoder-based intelligent event triggering control method, device, equipment and medium. Background Technology

[0002] Nonlinear networked control systems (NCSs) enable closed-loop control of the control system via a communication network. Overcoming geographical limitations, they can control multiple controllers and sensors distributed across different regions, achieving remote control based on network connectivity. They offer numerous advantages, including easy installation, low installation cost, high reliability, scalability, and flexibility, and are widely used in various fields of production and daily life, such as power system control, traffic control, process control, environmental control, and distributed robotics.

[0003] However, in the actual control of nonlinear networked systems, system stability is affected by network bandwidth. Event-triggered control can effectively solve the problem of limited network bandwidth, reducing the transmission burden on the communication network while ensuring system performance. Unlike traditional control methods that sample and control at fixed time intervals, event-triggered control only samples and controls when a specific event occurs. These events can be changes in sensor readings, changes in system state, or other specific triggering conditions. When an event occurs, the controller calculates a control signal and sends it to the actuator. The controller does not perform any calculations or communication until the next event occurs. This control strategy can effectively reduce the computational and communication load on the controller, thereby improving system efficiency and performance.

[0004] In actual network communication signal transmission, the communication network of a nonlinear networked control system may also be threatened by network attacks, such as denial-of-service (DoS) attacks, thereby disrupting the normal operation of the nonlinear networked control system. DoS attackers send a large number of requests or data packets to the target system, consuming the system's bandwidth, processing power, or storage space, making the system unable to respond to legitimate user requests. Once a nonlinear networked control system suffers a DoS attack, the communication network cannot transmit signals normally, which may lead to loss of system control, service interruption, impacting public safety and the order of production and daily life, and even causing accidents. Summary of the Invention

[0005] The purpose of this application is to provide an encoder-based intelligent event-triggered control method, device, equipment, and medium to avoid situations where the communication network cannot transmit signals normally and the system loses control when subjected to DoS attacks, thereby improving the performance and stability of the nonlinear networked control system.

[0006] To address the aforementioned technical problems, embodiments of this application provide an encoder-based intelligent event-triggered control method, comprising:

[0007] The controlled object and the controller of the nonlinear networked control system model output the first control output and the second control output, respectively.

[0008] Based on the first control output, the second control output, and the sampling mechanism, sampling parameters are obtained by sampling in the sensor.

[0009] The event triggering mechanism determines whether an event is triggered based on the sampling parameters. The event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism, and the attack cycle of the DoS attack model.

[0010] If an event is triggered, a trigger time output signal is output through the event triggering mechanism, and the trigger time output information is encoded by the encoder to obtain encoding parameters;

[0011] The encoded parameters are transmitted to the decoder via the network to obtain the decoded parameters, and the decoded parameters are transmitted to the receiving end via a zero-order hold.

[0012] To address the aforementioned technical problems, embodiments of this application provide an encoder-based intelligent event-triggered control device, comprising:

[0013] The control output unit is used to output the first control output and the second control output respectively through the controlled object and the controller of the nonlinear networked control system model;

[0014] A sampling unit is used to sample the sensor based on the first control output, the second control output, and the sampling mechanism to obtain sampling parameters.

[0015] The triggering judgment unit is used to determine whether an event has been triggered based on the sampling parameters through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism, and the attack cycle of the DoS attack model.

[0016] The encoding unit is used to output a triggering time output signal through the event triggering mechanism if an event is triggered, and to encode the triggering time output information through the encoder to obtain encoding parameters;

[0017] The decoding unit is used to transmit the encoded parameters to the decoder via the network for decoding to obtain the decoded parameters, and then transmit the decoded parameters to the receiving end via a zero-order hold.

[0018] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is to provide a computer device, including one or more processors; and a memory for storing one or more programs, so that the one or more processors implement the encoder-based intelligent event triggering control method described in any one of the above-mentioned methods.

[0019] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program, when executed by a processor, implements the encoder-based intelligent event triggering control method described above.

[0020] This invention provides an encoder-based intelligent event-triggered control method, apparatus, device, and medium. The method includes: outputting a first control output and a second control output from the controlled object and controller of a nonlinear networked control system model, respectively; sampling parameters in a sensor based on the first and second control outputs and a sampling mechanism; determining whether an event has been triggered based on the sampling parameters using an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism, and the attack cycle of a DoS attack model; if the event is triggered, outputting a trigger time output signal through the event triggering mechanism, and encoding the trigger time output information using an encoder to obtain encoded parameters; transmitting the encoded parameters through a network to a decoder for decoding to obtain decoded parameters, and transmitting the decoded parameters to a receiving end through a zero-order hold. This invention utilizes the periodic attack characteristics of DoS attacks to avoid interference from DoS attacks during interactions between different parts of the nonlinear networked control system, ensuring normal data transmission and communication, and preventing the communication network from failing to transmit signals and the system from losing control during a DoS attack, thereby improving the performance and stability of the nonlinear networked control system. Attached Figure Description

[0021] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the system structure of the encoder-based intelligent event triggering control method provided in the embodiments of this application;

[0023] Figure 2 This is a flowchart of an implementation of the encoder-based intelligent event triggering control method provided in this application embodiment;

[0024] Figure 3 This is a schematic diagram of the attack cycle of a DoS attack jammer provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of an encoder-based intelligent event triggering control mechanism under a DoS attack, provided in an embodiment of this application.

[0026] Figure 5 This is a schematic diagram showing the relationship between the virtual triggering time, the successful triggering reception time, and the DoS cycle of a smart event triggering control mechanism based on an encoder under a DoS attack, as provided in an embodiment of this application.

[0027] Figure 6 This is a schematic diagram of the change trajectory of an encoder-based intelligent event-triggered control method provided in an embodiment of this application;

[0028] Figure 7 This is a schematic diagram illustrating the changes in the triggering time of the controlled object to the controller channel, the triggering time of the controller to the controlled object channel, and the related system output under the action of the encoder-based intelligent event triggering control mechanism in the encoder-based intelligent event triggering control method provided in this application embodiment.

[0029] Figure 8 This is a schematic diagram of an encoder-based intelligent event triggering control device provided in an embodiment of this application;

[0030] Figure 9 This is a schematic diagram of the computer device provided in the embodiments of this application. Detailed Implementation

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0034] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] It should be noted that the encoder-based intelligent event triggering control method provided in this application embodiment is generally executed by a server, and correspondingly, the encoder-based intelligent event triggering control device is generally configured in the server.

[0036] Please see Figure 1 and 2 , Figure 1 This is a schematic diagram of the system structure of the encoder-based intelligent event-triggered control method provided in the embodiments of this application. Figure 2 A specific implementation of an encoder-based intelligent event-triggered control method is shown.

[0037] It should be noted that if substantially the same result is obtained, the method of this invention is not based on... Figure 1 Limited to the order of the processes shown, this method includes the following steps:

[0038] S1: The controlled object and the controller of the nonlinear networked control system model output the first control output and the second control output, respectively.

[0039] S2: Based on the first control output, the second control output, and the sampling mechanism, sampling parameters are obtained by sampling in the sensor.

[0040] S3: Determine whether an event has been triggered based on the sampling parameters through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism, and the attack cycle of the DoS attack model.

[0041] S4: If an event is triggered, the trigger time output signal is output through the event triggering mechanism, and the trigger time output information is encoded by the encoder to obtain the encoding parameters.

[0042] S5: The encoded parameters are transmitted to the decoder via the network for decoding to obtain the decoded parameters, and the decoded parameters are transmitted to the receiving end via the zero-order hold.

[0043] In this embodiment, the controlled object and controller of the nonlinear networked control system model output a first control output and a second control output y1(t) and y2(t) respectively. Then, based on the first control output, the second control output, and the sampling mechanism, sampling is performed in the sensor to obtain the sampling parameters. and Then, based on the encoder, sampling mechanism, and the attack cycle of the DoS attack model, an event triggering mechanism is constructed to determine whether an event has been triggered. If triggered, the trigger time signal y1(t) is output. k ),y2(m j Secondly, the triggered event is encoded into encoding parameters Z1(k) and Z2(j) at the encoder, and then decoded into decoding parameters at the decoder after being transmitted through the communication network. During the transmission of signals over the communication network, the signal may be subject to a DoS attack, causing the entire system to stop working. Finally, the successfully decoded parameters are passed through a zero-order hold (ZOH) and received and used by the receiving end.

[0044] In this embodiment, the event triggering method used in the controlled object to controller channel and the controller to controlled object channel is consistent in principle. Therefore, this embodiment takes the controlled object to controller channel as an example to specifically introduce the encoder-based intelligent event triggering control method, operation mechanism and performance analysis.

[0045] Furthermore, prior to step S1, a specific implementation method is provided: establishing the nonlinear networked control system model.

[0046] The nonlinear networked control system model is as follows:

[0047] in,

[0048] Wherein, G1 is the controlled object, and G2 is the controller. To control the input, To control the output, This refers to the system state of the controlled object. The system state of the controller is defined as y1(t) and y2(t) ∈ R, which are system outputs and u1(t) and u2(t) ∈ R, respectively. The output signals of the controlled object and the controller interact asynchronously between the controlled object to the controller channel and the controller to the controlled object channel.

[0049] Furthermore, both the controlled object and the controller are equipped with sensors, event triggers, encoders, decoders, and zero-order hold circuits. During transmission, the sensors sample the controlled object and the controller to obtain the corresponding states and outputs; the event triggers are based on the encoder, and events that meet the trigger conditions and the corresponding system outputs are recorded; the encoder and decoder encode and decode the system outputs that trigger the events.

[0050] In one specific embodiment, such as Figure 3 As shown, Figure 3This is a schematic diagram of the attack cycle process of a DoS attack jammer provided in an embodiment of this application.

[0051] The DoS attack model is as follows:

[0052]

[0053] Where T > 0, is the duration of any work cycle of the DoS attack; T off >0 represents the duration of the dormant period in a DoS attack; h∈N represents the number of DoS attack cycles; the time series {hT} (h∈N) represents the start time of the h-th DoS attack cycle; [hT, hT+T] off ) represents the sleep period of the h-th DoS attack model's working cycle, [hT+T off (h+1)T) represents the attack cycle of the h-th DoS attack model's working cycle. In the attack cycle of the DoS attack model, D DoS (t) = 1, interference signals are active, communication networks cannot transmit, and the system cannot function normally; during the dormancy period of the DoS attack model, D DoS When (t) = 0, the interference signal is dormant, the communication network can transmit, and the system can work normally.

[0054] Please see Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of an encoder-based intelligent event triggering control mechanism under a DoS attack, provided in an embodiment of this application. Figure 5 This is a schematic diagram showing the relationship between the virtual triggering time, the successful triggering reception time, and the DoS cycle of a smart event triggering control mechanism based on an encoder under a DoS attack, as provided in an embodiment of this application.

[0055] This application also provides a specific implementation method: constructing the event triggering mechanism based on the encoder, sampling mechanism, and attack cycle of the DoS attack model.

[0056] The event triggering mechanism is as follows:

[0057]

[0058] The sampled signal may invert after triggering, and the output error may exceed the maximum encoding error. This is restricted to the quantization range, where Y1∈R. + , is a constant used to represent The upper limit of z1[p] is the center point of the encoder. The sampling time is... The system output at the sampling time, θ1∈R+ For triggering parameters.

[0059] like Figure 4 As shown, Figure 4 Detailed examples of sampling times Virtual trigger time t k And the final, actual successful reception time (i.e., the decoding time). The relationship with the DoS attack cycle. Due to the impact of DoS attacks, some trigger signals may fail to transmit. Therefore, embodiments of this application introduce additional virtual trigger moments. Virtual trigger moments ensure that at least one trigger event signal of all required trigger signals can be transmitted normally within the same DoS attack cycle and successfully received by the decoder and controller, thereby resisting DoS attack interference.

[0060] At the sampling time of the sampling parameters Establish an encoder and a decoder, wherein the encoder is;

[0061]

[0062] Where, k∈N * t represents the number of times the virtual event is triggered. k Let be the trigger time of the k-th virtual event; p∈N, where is the number of times the encoder center point is updated, and z1[p] is the encoder center point. Let represent the update time of the encoder center point at the p-th time, sgn(·) be the sign function, and z1[0] be the initial center point of the encoder.

[0063] Furthermore, at the sampling time At that time, the encoder center point is z1[p], and in It is constantly updated, among which... The update rules are as follows:

[0064]

[0065] The update rule for the encoder center point is as follows:

[0066]

[0067] in, This is a round-down function. The encoder is designed as a binary hybrid encoder, with the transmitted codeword divided into two parts. This represents the total number of updated center points z1[p], and the decoder decodes only once for each update of the center point. This indicates the direction of encoder movement. Additionally, the first encoding requires determining the specific encoding range containing the initial value, i.e. This represents the initial encoded signal for locating the initial sub-encoding interval. Let... Where 2△1∈R + w1 is the maximum encoding error of the encoder, and w1 is the reference input of the system. These are the encoder parameters. To ensure that the initial output value of the device falls within the encoder's encoding range, let... ( ε1 is a fixed constant), and the initial output value y1(0) of the controlled object satisfies Initial coding range The code is divided into ε1 sub-encoding intervals, and the initial value y1(0) is determined to fall within each sub-encoding interval. After the first event is triggered, the encoder and its center point are updated, the encoding interval is changed to [z1[p]-2Δ1, z1[p]+2Δ1], and the trigger signal is encoded and transmitted. Due to the impact of DoS attacks, not every virtual trigger time t... k The signals that trigger the event can all be successfully received. In fact, in the design of this embodiment of the invention, it is not necessary to have every virtual trigger time t. k For triggering events, it is only necessary to ensure that at least one trigger event signal can be successfully received by the decoder within each DoS attack cycle; that is, the moment when a trigger event is successfully received is... The decoder will only decode the transmitted codeword when the number of changes in the center point is updated. at this time exist During this period, if If it remains unchanged, the decoder will not perform decoding. Based on the update rules of the encoder and center point z1[p], the constructed decoder is as follows:

[0068]

[0069] Where, a∈N * This indicates the number of times the decoder has successfully received and decoded the data. Let $a$ be the moment when the decoder successfully accepts and decodes the data, and $2Δ1$ be the maximum encoding error of the encoder.

[0070] In one specific embodiment, the encoder's update rules and event triggering mechanism are exemplified as follows: Figure 5 As shown. The encoder t1 is designed with its initial center point z1[0] and the transmission direction to the right. When the sampled output signal satisfies When the first trigger event occurs, the trigger time is recorded as . According to the encoder's encoding rules, the output signal y1(t1) is encoded as Z1[1] and transmitted through the communication network. Since the sampled signal is discrete, under the action of the event triggering mechanism, the output signal y1(t1) may cross the boundary z1[0]+2θ1Δ1, but will not exceed z1[0]+2Δ1. Finally, y1(t1) is successfully triggered within the triggering region [z1[0]+2θ1Δ1, z1[0]+2Δ1]. At this time, the encoder center point of encoder z1[0] may not be updated, and the update time of the center point is . The update rule is determined by the center point above. After transmission is complete, the output signal begins to wait for the next trigger.

[0071] In summary, in the presence of a DoS attack, the embodiments of this application effectively reduce the bandwidth capacity required for communication, save channel b1 resources, meet the transmission requirements under limited bandwidth, and resist the interference of DoS attacks, so that the system can still transmit the required data even when a DoS attack occurs.

[0072] In this embodiment, sufficient conditions need to be established to guarantee the QSR dissipation, stability, passive input feedforward and output feedback of the nonlinear networked control system, and to avoid Zeno behavior. The nonlinear networked control system model G consists of a controlled object subsystem G1 and a controller subsystem G2. Both the controlled object subsystem G1 and the controller subsystem G2 exhibit passive input feedforward and output feedback, with passive indices for input feedforward being a1 and a2, and passive indices for output feedback being b1 and b2. In this embodiment, when encountering DoS attacks, the nonlinear networked control system model G, under the established encoder, decoder, and event triggering mechanism, can guarantee the QSR dissipation of the system model G. Furthermore, when Q < 0, the system model G exhibits finite gain L2 stability.

[0073] That is, if a DoS attack is received, the storage function of the nonlinear networked control system model satisfies the first preset condition.

[0074] The first preset condition is:

[0075]

[0076] in,

[0077]

[0078] Where y(t) is the control input. For the control output, y T (t), Let γ1 and γ2 be the corresponding transposes of the control input and control output. + For constants that satisfy the inequality property, h1, h2 ∈ R + These are the encoder parameters. Q, S, and R are constant matrices that satisfy the first preset condition, where Q... 11 Q 22 R 11 R 22 These are the corresponding elements of constant matrices Q and R.

[0079] Furthermore, during sensor sampling, there is a sampling interval between two samplings. Therefore, the triggering interval of the controlled object subsystem G1 and the controller subsystem G2 is always greater than the sampling interval, i.e., it must be greater than zero, so Zeno behavior will not occur.

[0080] Furthermore, in this embodiment of the application, a detection module is used to detect the nonlinear networked control system, and the detection results are used to determine whether the nonlinear networked control system is stable and whether Zeno behavior occurs.

[0081] Please refer to Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the change trajectory of an encoder-based intelligent event-triggered control method provided in an embodiment of this application; Figure 7 This is a schematic diagram illustrating the changes in the triggering times of the controlled object-to-controller channel and the controller-to-controlled object channel, as well as the related system outputs, under the action of the encoder-based intelligent event triggering control mechanism provided in the embodiments of this application. This application provides a specific embodiment, with nonlinear networked control system models G1 and G2:

[0082]

[0083] Reference Input It is a constant. It is Gaussian white noise. For example... Figure 6 As shown, the states of the controlled object and the controller are displayed, demonstrating the stability of the nonlinear networked system G. The input feedforward and output feedback exponents of the object and the controller are a1 = 0, b1 = 0.9, a2 = 0, and b2 = 1. The initial states of the controlled object and the controller are... and The storage function is The sensor sampling step size is selected as 0.01. The DoS jammer has a sleep period of 0.01 and an active period of 0.02 for the interference signal on the channel from the controlled object to the controller; and a sleep period of 0.01 and an active period of 0.03 for the interference signal on the channel from the controller to the controlled object. Figure 7As shown, the output y1(t) of the controlled object at the virtual trigger time t is displayed. k Output y1(t) k ) and at the actual successful reception time of The relationship between the controller output y2(t) and the virtual trigger time m j The output y2(m) j ) and at the actual successful reception time of The relationship between them.

[0084] The embodiments of this application have the following beneficial effects:

[0085] (1) Saves channel resources. The event triggering method provided in this application innovatively combines the periodic characteristics of DoS attacks with the sampling mechanism and encoder, which greatly reduces the bandwidth capacity required for communication between various parts of the nonlinear networked control system, effectively saves channel resources, meets the transmission requirements under limited bandwidth, and provides efficient service. (2) Effectively resists interference from external malicious periodic DoS attacks. The event triggering method provided in this application avoids interference from DoS attacks when various parts of the nonlinear networked control system interact by using the periodic attack characteristics of DoS attacks, so that the required data can be transmitted and communicated normally. (3) Has real-time performance, effectively ensuring the good performance of the nonlinear networked control system. The encoder-based event triggering method and related devices and equipment provided in this invention have strong real-time performance, quickly detect and identify events that meet the triggering conditions, quickly discover and handle potential problems, and improve the stability and reliability of the system.

[0086] Please refer to Figure 8 As a response to the above Figure 1 The implementation of the method shown in this application provides an embodiment of an encoder-based intelligent event-triggered control device, which is similar to... Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0087] like Figure 8 As shown, the encoder-based intelligent event triggering control device of this embodiment includes: a control output unit 61, a sampling unit 62, a trigger judgment unit 63, an encoding unit 64, and a decoding unit 65, wherein:

[0088] The control output unit 61 is used to output a first control output and a second control output through the controlled object and the controller of the nonlinear networked control system model, respectively.

[0089] The sampling unit 62 is used to sample the sensor based on the first control output, the second control output and the sampling mechanism to obtain sampling parameters.

[0090] Triggering judgment unit 63 is used to determine whether an event is triggered based on the sampling parameters through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism and the attack cycle of the DoS attack model;

[0091] The encoding unit 64 is used to output a triggering time output signal through the event triggering mechanism if the event is triggered, and to encode the triggering time output information through the encoder to obtain encoding parameters;

[0092] The decoding unit 65 is used to transmit the encoding parameters to the decoder via the network for decoding to obtain decoding parameters, and then transmit the decoding parameters to the receiving end via a zero-order hold.

[0093] Furthermore, the control output unit 61 also includes:

[0094] The model system model building unit is used to build the nonlinear networked control system model, wherein the nonlinear networked control system model is as follows:

[0095] in,

[0096] Wherein, G1 is the controlled object, and G2 is the controller. To control the input, To control the output, This refers to the system state of the controlled object. The system state of the controller is defined as y1(t) and y2(t) ∈ R, which are system outputs and u1(t) and u2(t) ∈ R, respectively. The output signals of the controlled object and the controller interact asynchronously between the controlled object to the controller channel and the controller to the controlled object channel.

[0097] Furthermore, the DoS attack model is as follows:

[0098]

[0099] Where T > 0, is the duration of any work cycle of the DoS attack; T off >0 represents the duration of the dormant period in a DoS attack; h∈N represents the number of DoS attack cycles; the time series {hT} (h∈N) represents the start time of the h-th DoS attack cycle; [hT, hT+T] off) represents the sleep period of the h-th DoS attack model's working cycle, [hT+T off ,(h+1)T) represents the attack cycle of the working cycle of the h-th DoS attack model.

[0100] In the attack cycle of the DoS attack model, D DoS (t) = 1, interference signals are active, communication networks cannot transmit, and the system cannot function normally; during the dormancy period of the DoS attack model, D DoS When (t) = 0, the interference signal is dormant, the communication network can transmit, and the system can work normally.

[0101] Furthermore, the encoder-based intelligent event-triggered control device also includes:

[0102] Encoder and decryptor construction unit, used at the sampling time of the sampling parameters Establish an encoder and a decoder, wherein the encoder is;

[0103]

[0104] The decoder is:

[0105]

[0106] Where, k∈N * t represents the number of times the virtual event is triggered. k Let a be the time when the k-th virtual event is triggered; a∈N * This indicates the number of times the decoder has successfully received and decoded the data. Let $a$ be the moment when the decoder successfully receives and decodes the data, $2Δ1$ be the maximum encoding error of the encoder, $p \in N$ be the number of times the encoder center point is updated, and $z1[p]$ be the encoder center point. This represents the update time of the encoder center point at the p-th iteration. The time of the first update of the encoder center point is sgn(·), where sgn(·) is the sign function. This represents the initial encoded signal used to locate the initial sub-encoded interval. The total number of encoder center points being updated. This indicates the direction of movement of the encoder.

[0107] Furthermore, the encoder-based intelligent event-triggered control device also includes:

[0108] Update unit, used at the sampling time At that time, the center point of the encoder is z1[p], and in It is constantly updated, among which... The update rules are as follows:

[0109]

[0110] The update rule for the encoder center point is as follows:

[0111]

[0112] in, This is a function that rounds down to the nearest integer.

[0113] Furthermore, before triggering the judgment unit 63, the following is also included:

[0114] An event triggering mechanism construction unit is used to construct the event triggering mechanism based on the encoder, the sampling mechanism, and the attack cycle of the DoS attack model.

[0115] The event triggering mechanism is as follows:

[0116]

[0117] Where z1[p] is the center point of the encoder. The sampling time is... The system output at the sampling time, θ1∈R + For triggering parameters.

[0118] Furthermore, the encoder-based intelligent event-triggered control device also includes:

[0119] The first storage function limiting unit is configured to ensure that the storage function of the nonlinear networked control system model satisfies a first preset condition if a DoS attack is received.

[0120] The first preset condition is:

[0121]

[0122] in,

[0123]

[0124] Where V(t) is the storage function of the nonlinear networked control system G, a1 and a2 are input feedforward indices, and b1 and b2 are output feedback indices. γ1, γ2∈R + For constants that satisfy the inequality property, h1, h2 ∈ R + Here, y(t) represents the encoder parameters, and y(t) represents the control input. For the control output, y T (t), Let Q be the transpose of the control input and control output. Q, S, and R are constant matrices satisfying the first preset condition. 11 Q 22 R 11 R 22 These are the corresponding elements of constant matrices Q and R.

[0125] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed]. Figure 9 , Figure 9 This is a basic structural block diagram of the computer device in this embodiment.

[0126] Computer device 8 includes a memory 81, a processor 82, and a network interface 83 that are interconnected via a system bus. It should be noted that only a computer device 8 with three components—memory 81, processor 82, and network interface 83—is shown in the figure; however, it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0127] Computer devices can include desktop computers, laptops, handheld computers, and cloud servers. These devices allow for human-computer interaction with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0128] The memory 81 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 81 may be an internal storage unit of the computer device 8, such as the hard disk or memory of the computer device 8. In other embodiments, the memory 81 may also be an external storage device of the computer device 8, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 8. Of course, the memory 81 may also include both internal storage units and external storage devices of the computer device 8. In this embodiment, the memory 81 is typically used to store the operating system and various application software installed on the computer device 8, such as the program code of an encoder-based intelligent event triggering control method. In addition, the memory 81 can also be used to temporarily store various types of data that have been output or will be output.

[0129] In some embodiments, processor 82 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. This processor 82 is typically used to control the overall operation of the computer device 8. In this embodiment, processor 82 is used to run program code stored in memory 81 or process data, for example, to run the program code of the encoder-based intelligent event-triggered control method described above, to implement various embodiments of the encoder-based intelligent event-triggered control method.

[0130] The network interface 83 may include a wireless network interface or a wired network interface, which is typically used to establish a communication connection between the computer device 8 and other electronic devices.

[0131] This application also provides another embodiment, namely, a computer-readable storage medium storing a computer program that can be executed by at least one processor to cause the at least one processor to perform the steps of the encoder-based intelligent event triggering control method described above.

[0132] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of this application.

[0133] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An encoder-based intelligent event-triggered control method, characterized in that, include: The controlled object and the controller of the nonlinear networked control system model output the first control output and the second control output, respectively. Based on the first control output, the second control output, and the sampling mechanism, sampling parameters are obtained by sampling in the sensor. The event triggering mechanism determines whether an event is triggered based on the sampling parameters. The event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism, and the attack cycle of the DoS attack model. If an event is triggered, a trigger time output signal is output through the event triggering mechanism, and the trigger time output information is encoded by the encoder to obtain encoding parameters; The encoded parameters are transmitted to the decoder via the network to obtain the decoded parameters, and the decoded parameters are transmitted to the receiving end via a zero-order hold. The sampling time of the sampling parameters Establish an encoder and a decoder, wherein the encoder is; The decoder is: Where, k∈N * t represents the number of times the virtual event is triggered. k Let a be the time when the k-th virtual event is triggered; a∈N * This indicates the number of times the decoder has successfully received and decoded the data. Let $a$ be the moment when the decoder successfully receives and decodes the data, $2Δ1$ be the maximum encoding error of the encoder, $p \in N$ be the number of times the encoder center point is updated, and $z1[p]$ be the encoder center point. This represents the update time of the encoder center point at the p-th iteration. The time of the first update of the encoder center point is sgn(·), where sgn(·) is the sign function. This represents the initial encoded signal used to locate the initial sub-encoded interval. The total number of encoder center points being updated. This indicates the direction of the encoder's movement, and z1[0] is the encoder's initial center point; At the sampling time At that time, the center point of the encoder is z1[p], and in It is constantly updated, among which... The update rules are as follows: The update rule for the encoder center point is as follows: in, This is a function that rounds down to the nearest integer.

2. The encoder-based intelligent event-triggered control method according to claim 1, characterized in that, Before the controlled object and controller of the nonlinear networked control system model output the first control output and the second control output respectively, the method further includes: A model for the nonlinear networked control system is established, wherein the nonlinear networked control system model is as follows: in, Wherein, G1 is the controlled object, and G2 is the controller. To control the input, To control the output, This refers to the system state of the controlled object. Let y1(t) and y2(t) ∈ R be the system states of the controller, and y1(t) and y2(t) ∈ R be the system outputs. The system input is provided by the output signals of the controlled object and the controller, which interact asynchronously between the controlled object-to-controller channel and the controller-to-controlled object channel.

3. The encoder-based intelligent event-triggered control method according to claim 1, characterized in that, The DoS attack model is as follows: Where t is the running time of the DoS attack model; T > 0 is the duration of any working cycle of the DoS attack; T off >0 represents the duration of the dormant period in the DoS attack; h∈N represents the number of periods in the DoS attack; the time series {hT} (h∈N) represents the start time of the working period of the h-th DoS attack; [hT, hT+T] off ) represents the sleep period of the h-th DoS attack model's working cycle, [hT+T off (h+1)T) represents the attack cycle of the working cycle of the h-th DoS attack model; In the attack cycle of the DoS attack model, D DoS (t) = 1, interference signals are active, communication networks cannot transmit, and the system cannot function normally; during the dormancy period of the DoS attack model, D DoS When (t) = 0, the interference signal is dormant, the communication network can transmit, and the system can work normally.

4. The encoder-based intelligent event-triggered control method according to claim 1, characterized in that, Before determining whether an event has been triggered based on the sampling parameters using the event triggering mechanism, the method further includes: Based on the encoder, the sampling mechanism, and the working cycle of the DoS attack model, the event triggering mechanism is constructed. The event triggering mechanism is as follows: Where z1[p] is the center point of the encoder, and it is the sampling time. The system output at the sampling time, θ1∈R + For triggering parameters.

5. The encoder-based intelligent event-triggered control method according to any one of claims 1 to 4, characterized in that, The method further includes: If a DoS attack is received, the storage function of the nonlinear networked control system model satisfies the first preset condition. The first preset condition is: in, Where V(t) is the storage function of the nonlinear networked control system model, a1 and a2 are the system input feedforward indices, b1 and b2 are the output feedback indices, and γ1 and γ2 ∈ R + For constants that satisfy the inequality property, h1, h2 ∈ R + Here, y(t) represents the encoder parameters, and y(t) represents the control input. For the control output, y T (t), Let Q, S, and R be the corresponding transposes of the control input and control output, and let Q, S, and R be constant matrices satisfying the first preset condition. 11 Q 22 R 11 R 22 These are the corresponding elements of constant matrices Q and R.

6. An encoder-based intelligent event-triggered control device, characterized in that, include: The control output unit is used to output the first control output and the second control output respectively through the controlled object and the controller of the nonlinear networked control system model; A sampling unit is used to sample the sensor based on the first control output, the second control output, and the sampling mechanism to obtain sampling parameters. The triggering judgment unit is used to determine whether an event has been triggered based on the sampling parameters through an event triggering mechanism, wherein the event triggering mechanism is a triggering mechanism constructed based on the encoder, the sampling mechanism, and the attack cycle of the DoS attack model. The encoding unit is used to output a triggering time output signal through the event triggering mechanism if an event is triggered, and to encode the triggering time output information through the encoder to obtain encoding parameters; The decoding unit is used to transmit the encoded parameters to the decoder via the network for decoding to obtain the decoded parameters, and then transmit the decoded parameters to the receiving end via a zero-order hold. Encoder and decryptor construction unit, used at the sampling time of the sampling parameters Establish an encoder and a decoder, wherein the encoder is; The decoder is: Where, k∈N * t represents the number of times the virtual event is triggered. k Let a be the time when the k-th virtual event is triggered; a∈N * This indicates the number of times the decoder has successfully received and decoded the data. Let $a$ be the moment when the decoder successfully receives and decodes the data, $2Δ1$ be the maximum encoding error of the encoder, $p \in N$ be the number of times the encoder center point is updated, and $z1[p]$ be the encoder center point. This represents the update time of the encoder center point at the p-th iteration. The time of the first update of the encoder center point is sgn(·), where sgn(·) is the sign function. This represents the initial encoded signal used to locate the initial sub-encoded interval. The total number of encoder center points being updated. This indicates the direction of the encoder's movement, and z1[0] is the encoder's initial center point; Update unit, used at the sampling time At that time, the center point of the encoder is z1[p], and in It is constantly updated, among which... The update rules are as follows: The update rule for the encoder center point is as follows: in, This is a function that rounds down to the nearest integer.

7. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the encoder-based intelligent event-triggered control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the encoder-based intelligent event-triggered control method as described in any one of claims 1 to 5.

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