A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security
A Multirate Adaptive Control for MIMO Systems with Application to Cyber-Physical Security
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DOI：
10.1109/cdc.2018.8619570
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发表时间：
2018-12
期刊：
影响因子：
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通讯作者：
H. Jafarnejadsani;Hanmin Lee;N. Hovakimyan;P. Voulgaris
中科院分区：
文献类型：
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作者：
H. Jafarnejadsani;Hanmin Lee;N. Hovakimyan;P. Voulgaris
针对可能存在非最小相位零点的多输入多输出（MIMO）系统，利用L 1自适应控制结构，提出了一种多速率输出反馈控制器.对采样数据控制器的稳定性和鲁棒性分析表明，在一定条件下，当采样时间趋于零时，连续时间参考系统的性能可以均匀恢复。该控制器的设计用于检测和缓解执行器的攻击。通过考虑多速率公式，隐形零动态攻击变得可检测。最后给出了小型四旋翼机的飞行试验结果。测试表明，多速率$\mathcal{L}_{1}$控制器可以有效检测零动态执行器攻击并恢复四旋翼的稳定性。
This paper proposes a multirate output-feedback controller for multi-input multi-output (MIMO) systems, possibly with non-minimum-phase zeros, using the $\mathcal{L}_{1}$ adaptive control structure. The analysis of stability and robustness of the sampled-data controller reveals that under certain conditions the performance of a continuous-time reference system is uniformly recovered as the sampling time goes to zero. The controller is designed for detection and mitigation of actuator attacks. By considering a multirate formulation, stealthy zero-dynamics attacks become detectable. The experimental results from the flight test of a small quadtotor are provided. The tests show that the multirate $\mathcal{L}_{1}$ controller can effectively detect the zero-dynamics actuator attack and recover stability of the quadrotor.