CN108629132A - The collaborative design method of fault Detection Filter and controller under DoS attack - Google Patents

The collaborative design method of fault Detection Filter and controller under DoS attack Download PDF

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CN108629132A
CN108629132A CN201810442129.6A CN201810442129A CN108629132A CN 108629132 A CN108629132 A CN 108629132A CN 201810442129 A CN201810442129 A CN 201810442129A CN 108629132 A CN108629132 A CN 108629132A
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fault detection
dos attack
detection filter
usv
controller
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胡松林
谷咏放
解相朋
岳东
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Nanjing Post and Telecommunication University
Nanjing University of Posts and Telecommunications
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00—Network architectures or network communication protocols for network security
    • H04L63/14—Network architectures or network communication protocols for network security for detecting or protecting against malicious traffic
    • H04L63/1441—Countermeasures against malicious traffic
    • H04L63/1458—Denial of Service

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  • Computer Security & Cryptography (AREA)
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Abstract

The invention discloses the collaborative design methods of fault Detection Filter and controller under a kind of DoS attack, the method is applied to USV course control systems, it is a kind of fault Detection Filter based on state observer and elastic event trigger controller collaborative design method, including step：It establishes by the mathematical model based on state observer USV control systems under the influence of actuator failures, DoS attack and network delay；A kind of and relevant event trigger mechanism of observer state is introduced, and theoretical using time lag system, network transfer delay and the USV control system models under the influence of event trigger mechanism can be described simultaneously by establishing；Determine the event triggering matrix W of USV control system models, state observer gain matrix L1,L2, fault Detection Filter gain matrix V1,V2With controller gain matrix K；Establish the fault Detection Filter under DoS attack based on state observer and elastic event trigger controller；The present invention can effectively resist failure at DoS attack and in time detection.

Description

The collaborative design method of fault Detection Filter and controller under DoS attack
Technical field
The present invention relates to network control system technical field, be applied to USV (Unmanned Surface Vehicle, Unmanned surface vehicle) in course control system more particularly to a kind of DoS (Disk Operating System, disk operating system System) the lower observer-based fault detection filter of attack and elastic event trigger controller collaborative design method.
Background technology
In recent years, the Security Control Problem of network control system becomes a big research hotspot, and network control system is often adopted With distributed control mode, the multidate information of acquisition and all kinds of control signals are transmitted by network communication channel, with Higher and higher and network size the continuous expansion of opening of network, this will certainly just increase the possibility of network attack, such as Spoofing attack and Denial of Service attack etc., Denial of Service attack can occupy communication port, and consumption network bandwidth causes normally logical Letter is blocked；Signal transmission, which is blocked, this may result in that entire control system is unstable, to which the research to control theory is brought New problem.Due to inevitably there is the problems such as propagation delay time, failure in network communication, this also gives control based on network band Challenge newly is carried out.The world today, each state is all in active pursuit green, intelligence and sustainable development, under this main trend, With the needs that international ocean situation develops, studying in relation to unmanned surface vehicle control technology is just increasingly general by all over the world All over attention.Unmanned surface vehicle is widely used in hydrographic, marine environment prison as a kind of intelligentized movement overseas platform In survey, maritime search and rescue, scientific exploration and modernization military war.And the filtering and control to unmanned surface vehicle are to be based on network rings The control centre of bank base or lash ship under border realizes.When can inevitably generate network induction due to the introducing of network Prolong, the generation etc. of data-bag lost and failure, designs a kind of unmanned boat direction controller adapted under complicated marine environment And fault Detection Filter is one of the important content of unmanned boat motion control.Therefore, for a faulty water surface without How people's ship establishes network-based model and has a great deal of practical meanings when being denied service attack, meanwhile, it is based on net The collaborative design of the fault Detection Filter of network and elastic event trigger controller is also urgent problem now.
Invention content
It is a primary object of the present invention to solve shortcoming and defect existing in the prior art, provide under a kind of DoS attack Fault Detection Filter and controller collaborative design method, higher detection success rate and lower can get by the method False alarm rate, specific technical solution is as follows：
The collaborative design method of fault Detection Filter and controller under a kind of DoS attack, the method are applied to USV Course control system is the fault Detection Filter based on state observer and is acted synergistically between elastic event trigger controller A kind of design method, method includes the following steps：
S1：Establish by under the influence of actuator failures, DoS attack and network delay based on state observer USV control The mathematical model of system processed；
S2：A kind of and relevant event trigger mechanism of observer state is introduced, and theoretical using time lag system, establishing can be together When USV control system models under the influence of network transfer delay and event trigger mechanism are described；
S3：Determine the event triggering matrix W of USV control system models, state observer gain matrix L1,L2, fault detect Filter gain matrix V1,V2With controller gain matrix K；
S4：Establish the fault Detection Filter under DoS attack based on state observer and elastic event trigger controller.
Further improvement of the present invention is, further includes step, establishes the Three Degree Of Freedom ship linear mathematical model of USV.
Further improvement of the present invention is, further includes step, the DoS attack model of construction schedule, and is introduced to institute It states in USV control system models.
Further improvement of the present invention is, further includes step, establishes the fault Detection Filter based on state observer Model.
Further improvement of the present invention is, further includes step, builds the augmentation model of the USV control system models.
Further improvement of the present invention is that the event trigger mechanism is by formulaIt determines, whereinAndτ (t)=t- ikh-lh,t∈Tl, while τ (t) meetsIndicate that upper delay, W are Triggering matrix to be asked,It is the signal that trigger kth time sends controller to,For transmission time ikCaused by network Time delay.
The collaborative design method of fault Detection Filter and controller under the DoS attack of the present invention is applied to the courses USV In control system, the USV control system mathematical models in the case of actuator failures, DoS attack and network delay are initially set up, Then it is introduced into event trigger mechanism to controller, to achieve the effect that save network broadband resource；And establish the state of being based on The fault Detection Filter of observer, the failure inspection established by the controller for introducing event trigger mechanism and based on state observation It surveys filter cooperative cooperating and is used for USV control system models, while the DoS attack model of construction schedule is introduced to USV controls In system model, to realize that USV control system models can effectively resist DoS attack；Compared with prior art, of the invention DoS attack can effectively be resisted and can be detected in time and be out of order, ensure the safe and stable operation of system, while reducing redundancy letter Number transmission quantity, alleviate network transmission pressure, save bandwidth resources and communication needed for the energy.
Description of the drawings
Fig. 1 is the flow diagram of the collaborative design method of fault Detection Filter of the present invention and controller；
Fig. 2 is the coupled relation figure of steering engine and yawing-rolling on USV of the present invention；
Fig. 3 is the structure composition schematic diagram of USV course control systems of the present invention；
Fig. 4 is the operation principle schematic diagram of event trigger of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is only A part of the embodiment of the present invention gives presently preferred embodiments of the present invention instead of all the embodiments in attached drawing.The present invention can To realize in many different forms, however it is not limited to embodiment described herein, on the contrary, provide the mesh of these embodiments Be to make the disclosure of the present invention more thorough and comprehensive.Based on the embodiments of the present invention, the common skill in this field The every other embodiment that art personnel are obtained without creative efforts belongs to the model that the present invention protects It encloses.
In conjunction with Fig. 2 and Fig. 4, wherein Fig. 2 is the coupled relation figure of the steering engine and yawing-rolling of USV in the present invention, and Fig. 4 is It is provided with the fundamental diagram of the event trigger of heretofore described event trigger mechanism；It can be seen that implementing in the present invention In example, USV is by console remote control, and console includes fault Detection Filter and event based on state observer Trigger controller forms, since console is by the course of wireless network control unmanned boat, in the process, USV control systems It can be influenced by network attack and network delay；In conjunction with Fig. 1 and Fig. 3, the present invention provides the failures under a kind of DoS attack The collaborative design method of Fault detection filter and controller is applied to USV course control systems, is the failure based on state observer A kind of design method to act synergistically between Fault detection filter and elastic event trigger controller, specifically, method includes following Step：
S1：Establish by under the influence of actuator failures, DoS attack and network delay based on state observer USV control The mathematical model of system processed；
In actual conditions, since the movement of USV includes yawing, rolling, swaying, surging, heaving, pitching six-freedom degree fortune It is dynamic；The fault detect of present invention research USV and Heading control problem, only need to consider yawing, rolling, swaying three degree of freedom, will Surging, heaving, pitching influence be considered as interference；In order to preferably describe the specific motion conditions of USV, the present invention is based on formulaIt is linear to establish yawing, rolling, swaying Three Degree Of Freedom ship Mathematical model, wherein υ (s), ψ (s), φ (s), δ (s) are υ (t), ψ (t), φ (t) respectively, the Laplace function of δ (t), and υ (t), ψ (t), φ (t), δ (t) indicate respectively by rudder individually caused by speed, course angle, roll angle, rudder angle；ωψ(s),ωφ (s) it is respectively disturbance of the wave to rolling and yawing；TυAnd TrIndicate the transmission function of time；Kυr,Kυp,Kdυ,Kdr,KdpIt indicates Gain；And ωnDamped coefficient and natural frequency are indicated respectively；Based on the above-mentioned Three Degree Of Freedom ship linear mathematical model established Formula can obtain the state equation of USV control systemsIn formula, x (t)=[υ (t) r (t) ψ(t) p(t) φ(t)]TAnd x (t) ∈ Rn；υ (t) indicates the swaying speed caused by rudder, r (t), ψ (t), p (t), φ (t) yawing speed, course angle, rolling velocity and roll angle are indicated respectively；δ (t) ∈ Rm indicate rudder angle；It is extraneous dry caused by wave Disturb ω (t)=[ωψ(t) ωφ(t)]TAnd ω (t) ∈ L2[t0,∞)；x0∈RnThe original state of expression system；A、B、E1It can be by Following parameters：
WithIt acquires.
The embodiment of the present invention is in order to fully understand actuator failures, DoS attack and network delay to USV control systems Influence, by way of founding mathematical models, realize in the case that actuator failures, DoS attack and network delay system one A little concrete conditions, the detailed process established are as follows：
First, consider that the influence of actuator failures, the state equation of system are in above-mentioned USV control systems：Wherein y (t) ∈ RlIt indicates to measure output, f (t) ∈ RqIndicate actuator Fault-signal；E2, C is the matrix of known appropriate dimension, it is assumed that C row full ranks, and (A, C) Observable.
Secondly, consider the influence of DoS attack, establish period DoS attack model, and DoS attacks are introduced to USV controls In system, specifically, DoS attack signal is the signal to attack of one group of finite energy, limited carrier frequency channel break communication can be occupied, is passed through FormulaTo indicate；Wherein, n ∈ N indicate that periodicity, T are the length of attack Degree, setIndicate the section of no DoS attack, at this time signal normal transmission；And Indicate the section of DoS attack, signal is blocked at this time, is transmitted without data packet.
Since each state of USV control systems is not that can obtain, the shadow of the DoS attack in period is considered It rings, designs fault Detection Filter (FDF) and controller based on state observer, indicated by following formula：
In formula, R (t) ∈ Rq be respectively the state of observer, observer output, control input and The residual signals of FDF；L1,L2,V1,V2It is gain matrix；The present invention can ensure that USV is controlled by introducing periodic DoS attack The internet security of system processed can effectively resist DoS attack, ensure that system can be with stable operation.
Finally, obtain by under the influence of actuator failures, DoS attack and network delay based on state observer USV The mathematical model of control system：
System model is：
And the fault Detection Filter model based on state observer：
In formula,And x (t) ∈ RnIndicate system mode, υ (t) indicate by Swaying speed caused by rudder,ψ (t), p (t), φ (t) indicate yawing speed, course angle, rolling velocity and roll angle respectively, ω (t)=[ωψ(t) ωφ(t)]TAnd ω (t) ∈ L2[t0, ∞), f (t) ∈ Rq, y (t) ∈ RlIt is outer caused by wave respectively The measurement output of boundary's interference, the fault-signal of actuator and system, ωψ(t),ωφ(t) it is wave respectively to rolling and yawing Disturbance, x0∈RnThe original state of expression system, A, B, C, E1,E2It is the matrix of known appropriate dimension；r(t)∈Rq It is not the state of observer and the residual signals of fault Detection Filter；L1,L2, V is gain matrix；Wherein A, B, E1With it is upper State A, B, E in the state equation of USV control systems1Solution mode it is identical, be known appropriate dimension matrix； H1,n= [nT,nT+Toff), H2,n=[nT+Toff, (n+1) T),T is DoS attack period, ToffFor Without attack siding-to-siding block length.
S2：A kind of and relevant event trigger mechanism of observer state is introduced, and theoretical using time lag system, establishing can be together When USV control system models under the influence of network transfer delay and event trigger mechanism are described；
In an embodiment of the present invention, used event trigger mechanism is to pass through formulaCome what is determined, whereinAnd τ (t)=t-ikh-lh,t∈Tl, while τ (t) meets Indicate upper delay, W For triggering matrix to be asked,It is the signal that trigger kth time sends controller to,For transmission time ikCaused by network Time delay.
Specifically, the present invention designs following event trigger mechanism for attack, ensure unmanned surface vehicle Heading control system System while asymptotically stability, reduces network communication pressure under the action of controller；At no DoS attack moment, event triggers machine System ensures that unmanned surface vehicle network control system asymptotically stability, trigger conditions are to pass through formulaIt indicates, in formula, k, l are just whole Number, W is the positive definite weighting matrix for having appropriate dimension, and σ is bounded positive real number,It is present sample signal,It is The trigger last time sends the signal of controller to；WhenWhen, the control input of system passes through formulaIt indicates, and definesWhereinEnable τ (t)=t-ikh-lh,t∈Tl, thenWherein upper delaySo enablingThenIn addition, the observation error of console passes through formulaTable Show, augmented state byAnd re(t)=r (t)-f (t) indicates that this makes it possible to obtain final control systems The augmentation model of system, final control system augmentation model pass through formulat ∈Rk∩H1,nWitht∈H2,nIt indicates；Wherein D=[0- I]。
The present invention can effectively save broadband resource, reduce net by introducing the event trigger mechanism based on observer The transmission pressure of network can thus realize the maximization of function in limited broadband resource.
S3：Determine the event triggering matrix W of USV control system models, state observer gain matrix L1,L2, fault detect Filter gain matrix V1,V2With controller gain matrix K；
In embodiments of the present invention, to the cycle T of given DoS attack, without attack siding-to-siding block length ToffWith Disturbance Rejection water Flat γ ＞ 0 and adjustable parameter αi,μi,σ,τM,βi,εi,θi, if there is positive definite symmetric matrices Xi,W and appropriate dimension Several matrixesMeet following linear matrix Inequality:
Wherein,
In formula, I is appropriate The unit matrix of dimension, * are corresponding transposition items in matrix.
Outgoing event triggering matrix W, observer gain matrix can be calculated according to above-mentioned linear matrix inequalityFilter gain matrixAnd controller gain matrix
S4：Establish the fault Detection Filter under DoS attack based on state observer and elastic event trigger controller.
Under DoS attack, in USV control systems, fault Detection Filter and bullet of the collaborative design based on state observer Sexual behavior part trigger controller ensures that USV control systems can be safe and stable under actuator failures, DoS attack and network delay Operation；Specifically pass through formulaIt indicates filter residual signals, passes through formulaIndicate controller.
The present invention DoS attack under fault Detection Filter and controller collaborative design method, using with the courses USV In control system, the USV control system mathematical models in the case of actuator failures, DoS attack and network delay are initially set up, Then it is introduced into event trigger mechanism to controller, to achieve the effect that save network broadband resource；And establish the state of being based on The fault Detection Filter of observer, the failure inspection established by the controller for introducing event trigger mechanism and based on state observation It surveys filter cooperative cooperating and is used for USV control system models, while the DoS attack model of construction schedule is introduced to USV controls In system model, to realize that USV control system models can effectively resist DoS attack；Compared with prior art, of the invention DoS attack can effectively be resisted and can be detected in time and be out of order, ensure the safe and stable operation of system, while reducing redundancy letter Number transmission quantity, alleviate network transmission pressure, save bandwidth resources and communication needed for the energy.
The foregoing is merely a prefered embodiment of the invention, the scope of the claims of the present invention is not intended to limit, although with reference to aforementioned reality Applying example, invention is explained in detail, still can be to aforementioned each tool for those skilled in the art comes Technical solution recorded in body embodiment is modified, or carries out equivalence replacement to which part technical characteristic.Every profit The equivalent structure made of description of the invention and accompanying drawing content is directly or indirectly used in other related technical areas, Similarly within scope of patent protection of the present invention.

Claims (6)

  1. The collaborative design method of fault Detection Filter and controller under 1.DoS attacks, the method are controlled applied to the courses USV System processed, is a kind of fault Detection Filter based on state observer and elastic event trigger controller collaborative design method, It is characterized in that, method includes the following steps：
    S1：Establish by under the influence of actuator failures, DoS attack and network delay based on state observer USV control system The mathematical model of system；
    S2：A kind of and relevant event trigger mechanism of observer state is introduced, and theoretical using time lag system, foundation can retouch simultaneously State network transfer delay and the USV control system models under the influence of event trigger mechanism；
    S3：Determine the event triggering matrix W of USV control system models, state observer gain matrix L1,L2, fault detect filtering Device gain matrix V1,V2With controller gain matrix K；
    S4：Establish the fault Detection Filter under DoS attack based on state observer and elastic event trigger controller.
  2. 2. the collaborative design method of the fault Detection Filter and controller under DoS attack according to claim 1, special Sign is, further includes step, establishes the Three Degree Of Freedom ship linear mathematical model of USV.
  3. 3. the collaborative design method of the fault Detection Filter and controller under DoS attack according to claim 1, special Sign is, further includes step, the DoS attack model of construction schedule, and is introduced in the USV control system models.
  4. 4. the collaborative design method of the fault Detection Filter and controller under DoS attack according to claim 1, special Sign is, further includes step, establishes the fault Detection Filter model based on state observer.
  5. 5. the collaborative design method of the fault Detection Filter and controller under DoS attack according to claim 1, special Sign is, further includes step, builds the augmentation model of the USV control system models.
  6. 6. the collaborative design method of the fault Detection Filter and controller under DoS attack according to claim 1, special Sign is that the event trigger mechanism is by formulaIt determines, whereinAnd L=0,1 ..., ik+1-ik- 1, τ (t)=t-ikh-lh,t∈Tl, while τ (t) meets Indicate that upper delay, W are triggering matrix to be asked,It is triggering Device kth time sends the signal of controller to,For transmission time ikThe time delay caused by network.
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CN109795277A (en) * 2018-10-17 2019-05-24 南京林业大学 The method of Active suspension Control for Dependability when a kind of network between controller and actuator is by DoS attack
CN109343513A (en) * 2018-11-20 2019-02-15 哈尔滨工业大学 Based on the synchronous fault detection of event driven unmanned surface vehicle and control method
CN110161882A (en) * 2019-06-12 2019-08-23 江南大学 A kind of fault detection method of the networked system based on event trigger mechanism
CN110213115A (en) * 2019-06-25 2019-09-06 南京财经大学 A kind of Multi net voting attacks the method for controlling security of lower event-driven network control system
CN110213115B (en) * 2019-06-25 2022-04-22 南京财经大学 Security control method of event-driven network control system under multi-network attack
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Application publication date: 20181009