Recent years have witnessed the surge of interest security issues in cyber-physical systems. In this paper, we consider malicious cyber attacks a remote state estimation application where smart sensor node transmits data to estimator equipped with false detector. It is assumed that all can be observed and modified by attacker residue-based detection algorithm used at side detect anomalies. We propose linear deception attack strategy present corresponding feasibility constraint which...

In this paper, a security problem in networked control systems (NCS) is studied. standard linear quadratic Gaussian (LQG) scenario NCS, so-called false data injection attack could be launched by malicious attacker to deteriorate the system performance without being detected. To defend against such attacks, defender on NCS side needs allocate defense resources among sensors secure data, and investment determines costs of compromising certain sensors. After observing defender' action, decides...

In this note, we consider event-triggered extended state observer (ET-ESO) design for a continuous-time nonlinear system with uncertainty and disturbance. Since the convergence of ET-ESO depends on triggering condition directly, goal is to realizable not relying plant. For considered, an transmission strategy proposed such that observation error uniformly bounded. Furthermore, under mild conditions, can be guaranteed bounded at any time. It shown there no Zeno behavior event-based strategy....

Motivated by challenges in state estimation with event-based measurement updates, the properties of exact and approximate set-valued Kalman filters multiple sensor measurements for linear time-invariant systems are investigated this work. First, we show that proposed independent fusion sequence at each time instant. Second, boundedness size set means is proved filter. For filter, if closed-loop matrix contractive, then has a bounded asymptotically; otherwise nonsingular transform constructed...

The problem of secure state estimation and attack detection in cyber-physical systems is considered this paper. A stochastic modeling framework first introduced, based on which the attacked system modeled as a finite-state hidden Markov model with switching transition probability matrices controlled by decision process. Based framework, joint formulated solved. Utilizing change measure approach, we show that an unnormalized distribution conditioned sensor measurement information evolves...

In recent years, there has been a growing interest in distributed optimization, which collaboratively attains an optimum by exchanging information with neighbours. Among the various algorithms available, optimization gradient tracking is particularly notable for its superior convergence results, especially context of directed graphs. However, privacy concerns arise when transmitted directly would induce more leakage. Surprisingly, literature not adequately addressed associated issues....

Physical servo systems are affected by disturbances, uncertainties, and resource restrictions. In this paper, an event-triggered active disturbance rejection control approach is proposed to achieve position tracking of dc torque motors. An event-based sampler together with extended state observer introduced, which allows the joint observation system state, total induced model uncertainty intermittent sampling. Based on results, closed-loop achieved guaranteed stable performance. To quantify...

The problem of attack detection in cyberphysical systems is considered this paper. Transferentropy-based causality countermeasures are introduced for both sensor measurements and innovation sequences, which can be evaluated a data-driven fashion without relying on model the underlying dynamic system. relationships between system parameters as well noise statistics investigated, based conditions that guarantee time convergence obtained. effectiveness transfer entropy via theoretical analysis,...

In this paper, we study the worst-case consequence of innovation-based integrity attacks with side information in a remote state estimation scenario where sensor transmits its measurement to estimator equipped false-data detector. If malicious attacker is not only able compromise transmitted data packet but also measure system itself, attack strategy can be designed based on intercepted data, sensing or alternatively combined information. Surprisingly, show that launching using are always...

Zone model predictive control (MPC) has been proven to be an efficient approach closed-loop insulin delivery in clinical studies. In this paper, we aim safely reduce mean glucose levels by proposing penalty adaptation the cost function of zone MPC.A MPC method with a dynamic that updates its parameters real time according predicted and rate change is developed. The proposed evaluated on entire 100-adult cohort FDA-accepted UVA/Padova T1DM simulator compared tested extended outpatient...

In this paper, two event-based robust sampled-data model predictive control (MPC) strategies are proposed based on the non-monotonic Lyapunov function approach for continuous-time systems with disturbances. Each event-triggering mechanism consists of MPC law and triggering conditions. We show that although conditions only checked at sampling instants is piecewise constant, feasibility algorithm stability closed-loop system guaranteed in continuous time. Besides, implementation issue...

We consider the problem of estimating state a linear time-invariant Gaussian system using N sensors, where subset sensors can potentially be compromised by an adversary. In this case, locating is crucial importance for obtaining accurate estimate. Inspired clustering algorithm in machine learning, we propose Gaussianmixture-model-based (GMM-based) detection mechanism. It clusters local estimate autonomously and provides belief each sensor, based on which measurements from different fused...

In this paper, a problem of event-triggered state estimation for linear Gaussian system with an energy harvesting sensor is investigated. A stochastic energy-dependent event-triggering transmission protocol proposed to balance the communication rate and performance according sensor's battery energy. The joint conditional probability distribution level on combined set-valued point-valued measurements available remote estimator derived. Based distribution, recursive minimum mean squared error...

There is an unmet need for a modular artificial pancreas (AP) system clinical trials within the existing regulatory framework to further AP research projects from both academia and industry. We designed, developed, tested interoperable (iAPS) smartphone app that can interface wirelessly with leading continuous glucose monitors (CGM), insulin pump devices, decision-making algorithms while running on unlocked smartphone.After algorithm verification, hazard mitigation analysis, complete...

In this article, a speed consensus strategy that combined distributed active disturbance rejection control (ADRC) framework with algorithm is proposed for the coordinated motion of wheel-leg robot. addition, strategy, new steering system designed. The can deal problem robot internal modeling uncertainty and external disturbances. To end, ADRC protocol under an undirected graph. By applying to system, be solved. consists four inverted Stewart platforms achieve angle range -60° - +60° make...