CN119310951B - Safe decentralized control method and system under switching event triggered control strategy - Google Patents
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Abstract
本发明的一种切换事件触发控制策略下的安全分散控制方法及系统，是一种切换事件触发控制策略的网络化互联大型系统的安全分散控制方法，该事件触发机制通过有效缓解系统的通信压力，确保在遭受外部扰动或拒绝服务攻击时，系统仍能保持稳定运行和安全性。由于事件触发机制的性质，本发明通过构造一种基于可切换的事件触发机制，应用在每个互联的子系统中；再通过协同设计事件触发通信参数、安全控制器控制规律。本发明能够使得互联的大型系统在应对拒绝服务与扰动具有性能水平，能够保证控制性能，获得更高的通信效率。本发明可适用于无人互联系统、智能电网的安全控制与通信优化工作等。
The present invention discloses a method and system for secure decentralized control under a switching event-triggered control strategy. It is a method for secure decentralized control of a large-scale networked interconnected system under a switching event-triggered control strategy. The event trigger mechanism effectively alleviates the communication pressure of the system, ensuring that the system can maintain stable operation and security when subjected to external disturbances or denial of service attacks. Due to the nature of the event trigger mechanism, the present invention constructs a switchable event trigger mechanism and applies it to each interconnected subsystem; and then collaboratively designs event-triggered communication parameters and security controller control rules. The present invention enables large-scale interconnected systems to have security in dealing with denial of service and disturbances. The performance level can ensure control performance and obtain higher communication efficiency. The present invention can be applied to the security control and communication optimization of unmanned interconnected systems and smart grids.
Description
Technical Field
The invention relates to the technical field of research in network communication and system control, in particular to a control method based on a switching event trigger mechanism and a networked interconnection system.
Background
In recent years, the popularity of large-scale systems has made network communications more complex and critical. However, as networks evolve, network security issues are also growing, including DoS (denial of service) attacks. DoS attacks can cause interruption of the system's communication, severely affecting the system's operation and stability. Therefore, how to effectively combat DoS attacks is one of the important challenges in the field of network communications today.
In practical engineering, the technology can be widely applied to various large-scale systems, especially those facing serious network security threats. For example, the technology can be used for improving the communication efficiency of the intelligent traffic system and enhancing the resistance of the system to DoS attacks so as to ensure the stable operation of the traffic system. The intelligent power system, in the interconnected power system, can be applied to improve the communication efficiency of the system and ensure the stability of the system, thereby improving the operation efficiency and the safety of the power system.
Disclosure of Invention
The invention provides a communication Scheme (SETC) based on an event triggering mechanism, which aims to handle DoS attacks in a large-scale system of network interconnection. The scheme adopts a distributed control strategy, improves the communication efficiency by means of an event triggering mechanism, and ensures the safety and stability of the system under the DoS attack. The switching event triggering mechanism enables the system to rapidly and accurately cope with DoS attack, reduces communication burden, improves efficiency and ensures stable operation of a large-scale system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a control method based on a switching event trigger mechanism and a networked interconnection system control method comprise the following steps:
S100, establishing a state space model of each subsystem of the networked interconnection large-scale system;
S200, establishing a mathematical model of the energy-limited denial of service attack to which each subsystem can be subjected;
S300, designing a constraint condition matrix of a controller with robust stability performance by adopting a Lyapunov stability analysis method according to a system model with switching event triggering strategy parameters, network communication random delay and packet loss caused by denial of service attack Then to matrixDecoupling is carried out, and the decoupling is converted into a linear matrix inequality form, so that the linear matrix inequality form can be solved in computer software, and event triggering strategy parameters and controller rules which meet the system performance are calculated;
s400, finally, inputting and triggering strategy parameters by the collaborative design controller, and solving based on the conditions of the steps S100-S300, so as to realize safe decentralized control under the switching event triggering control strategy.
On the other hand, the invention discloses a safety decentralized control system based on a switching event triggering control strategy, which is based on an interconnected network large system and comprises the following modules:
The switching event triggering unit is used for judging whether the data packet is lost in the transmission process, so as to determine whether to switch the event triggering mechanism in S301;
The system calculating unit is used for calculating the controller gain and the event triggering parameter of the system based on the switching event triggering mechanism under the condition that the system is attacked by denial of service, so that the system can keep stable controller gain and the event triggering parameter, and then the controller gain and the event triggering parameter of the system are calculated according to a state space equation of the networked interconnected large system and the switching event triggering mechanism;
And the networked interconnection large system decentralized control unit is used for finally designing the decentralized controller input and triggering the safe decentralized control of the control strategy based on the switching event under the denial of service attack.
According to the technical scheme, the safety decentralized control method based on the switching event triggering control strategy has the following advantages compared with the prior art:
firstly, the invention establishes a detailed state space model for each subsystem of the interconnected large system and considers the influence factors of interconnection among the subsystems, so that the models can more accurately reflect the dynamic characteristics and state changes of the large networked system.
Furthermore, the invention adopts a switching event triggering control strategy, the scheme ensures the control performance, can obtain higher communication efficiency under non-DoS attack, and can reduce the influence caused by DoS attack during DoS attack. Not only saves communication resources, but also achieves the expected control performance index.
By integrating SETC and the networked interconnection large system into a unified time delay system framework, more flexible and reliable safety control can be realized, and the method is applicable to various control systems and application scenes. Whether industrial control, robotic control, or intelligent transportation systems.
Finally, the algorithm in the invention is simple and easy to operate and realize, saves communication resources and has stronger network attack resistance.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a mechanical system of four interconnected vehicles according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a four-trolley tracking simulation in accordance with an embodiment of the present invention;
fig. 4 is a diagram illustrating a data transmission scenario under a handover event trigger mechanism according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
As shown in fig. 1, the method for secure decentralized control under the handover event trigger control policy according to the present embodiment includes:
S100, establishing a state space model of each subsystem of the networked interconnection large-scale system.
S200, establishing a mathematical model of the energy-limited denial of service attack to which each subsystem can be subjected.
S300, designing a constraint condition matrix of a controller with robust stability performance by adopting a Lyapunov stability analysis method according to a system model with switching event triggering strategy parameters, network communication random delay and packet loss caused by denial of service attackAnd then toThe matrix is decoupled and converted into a linear matrix inequality, so that the matrix can be solved in computer software, and event trigger strategy parameters and controller rules meeting system performance are calculated. In the specific calculation method, please refer to steps S301 and S302.
S400, finally, inputting and triggering strategy parameters by the collaborative design controller, and based on the conditions of the steps S100-S300.
The following is a specific description of the above steps:
first, defining a state space model of each subsystem of the networked interconnection large-scale system as follows:
wherein, Is the state of subsystem i; Is the measurement output of subsystem i; is an external disturbance of subsystem i; is the control input to subsystem i; is the controllable output of subsystem i, Is a fixed coefficient matrix; The method is an interconnection coupling function of a large-scale networked interconnection system;
the embodiment of the invention mainly aims at realizing the safe decentralized control of the switching event trigger control strategy of the networked interconnected large system under the condition of denial of service attack.
Note that the symbolsRepresenting a set of positive integers, a symbolRepresenting symmetric terms, symbols in a symmetric matrixRepresentation matrixIs a transpose of (a).
The method comprises the following specific steps:
s100, defining a constraint term of an interconnection coupling function based on an interconnection system model, wherein the constraint inequality is that ;
Wherein, The coupling strength is related to the actual system model.
S200 builds a mathematical model of an energy limited denial of service attack that each subsystem may be subjected to.
First, it is defined that each subsystem of a networked interconnected large system may be subject to an energy-limited denial of service attack. An energy-limited denial of service attack refers to an attack that begins at a particular point in time and lasts for a certain period of time, and can be described in terms of time intervals as follows:
Wherein the method comprises the steps of Indicating the nth DoS attack interval,Symbol representing time when DoS attacker is in active stateIndicating the duration.
For S300, designing constraint condition matrix of controller with robust stability performance by Lyapunov stability analysis method according to system model with switching event triggering strategy parameters and network communication random delay and packet loss caused by denial of service attack. Then toThe matrix is decoupled and converted into a linear matrix inequality, so that the matrix can be solved in computer software, and event trigger strategy parameters and controller rules meeting the system performance are calculated.
The method specifically comprises the following steps:
s301, designing a switching event trigger mechanism
Wherein the method comprises the steps ofIs the time of the future trigger-off,Is the time of the most recent trigger-up,,Is the current sampling instant of time at which the sample is to be taken,The symbol inf represents a maximum lower bound of the setRepresenting the sampling interval of the current system, symbolIndicating that the parameter is being triggered,Representing a weight matrix, symbolsIs a given trigger parameter, the mechanism will use character confirmation detection technology to detect when data is transmitted, and presume that the data is transmitted at the current moment, when detecting that the current moment is lost due to denial of service attack, the mechanism will set the packet loss flag parameter ACK to 1 to indicate that the packet is lost, and switch to use the event trigger condition corresponding to ACK=0When the successful transmission at the current moment is detected, the packet loss flag parameter ACK is set to 0 to indicate the successful transmission, and the event triggering condition when the corresponding ACK=1 is switched to be used。
S302, designing a controller based on an event trigger mechanism as follows
Wherein the method comprises the steps ofIs the i-th subsystem trigger state,Is the gain of the controller to be designed,,Is a communication induced delay;
S303, will Dividing into smaller intervals and further designing the controller
Wherein the method comprises the steps of,When (when)Conditions whenIs true whenConditions whenEstablishment of the sign,Is a communication delay function and satisfies the relation,Is the lower limit of the communication delay and,An upper limit of communication delay;
S304, according to the event trigger mechanism and controller rule designed in S301-S303, when positive definite matrix exists And normal numberA condition matrix can be designedThe following relationship is satisfied:
,
wherein,
S305, condition matrix according to 304Decoupling it when a positive definite matrix is present,And normal numberSo that it satisfies the following relationship:,
wherein,
。
For S400, finally designing the controller input, based on the conditions of the steps S100-S300, further realizing the safe decentralized control under the switching event triggering control strategy;
The method specifically comprises the following steps:
s401, based on steps S100-S300, setting given event triggering parameters according to the required performance indexes Constant ofSubstituting the decoupled condition matrix (see S305 matrix) given in S305 to obtain the controller gain of each subsystemWeight matrix of event trigger mechanism。
On the other hand, the embodiment of the invention also discloses a safety decentralized control system under the switching event triggering control strategy, which is based on an interconnected network large system and comprises the following modules:
The switching event triggering unit is used for judging whether the data packet is lost in the transmission process, so as to determine whether to switch the event triggering mechanism in S301;
The system calculating unit is used for calculating the controller gain and the event triggering parameter of the system based on the switching event triggering mechanism under the condition that the system is attacked by denial of service, so that the system can keep stable controller gain and the event triggering parameter, and then the controller gain and the event triggering parameter of the system are calculated according to a state space equation of the networked interconnected large system and the switching event triggering mechanism;
And the networked interconnection large system decentralized control unit is used for finally designing the decentralized controller input and triggering the safe decentralized control of the control strategy based on the switching event under the denial of service attack.
Wherein the switching event triggering unit based on the character confirmation detection technology:
s301, designing a switching event trigger mechanism
Wherein, the system computing unit, the processing step includes:
S305, condition matrix according to 304 Decoupling it when a positive definite matrix is present,And normal numberSo that it satisfies the following relationship:
,
To give event trigger parameters Constant ofSubstituting the decoupled condition matrix (see S305 matrix) given in S305 to obtain the controller gain of each subsystemWeight matrix of event trigger mechanism。
The networked interconnection large system distributed control unit comprises the following specific processing steps:
s302, designing a controller based on an event trigger mechanism as follows
S303, willDividing into smaller intervals and further designing the controller
The invention can be applied to various related fields, such as intelligent power grids, unmanned systems and large-scale networked control systems, and can effectively relieve communication pressure and maintain the technical problems of stability and safety of the system when disturbance exists outside and a communication channel is attacked by denial of service.
In the present embodiment, experimental examples are used to verify the proposed design method. Considering the mechanical system of four interconnected vehicles in fig. 2, in combination with the disturbance, the ith vehicle model:
in combination with the actual physical meaning, the following state space matrix parameters are given:
assume that the current sampling time, the communication delay lower line and the communication delay upper limit of the system are respectively 。
Given parameters And system performance indexSubstituting into S305, solving to obtain the following controller gainEvent trigger weight matrix:
The simulation result of the denial of service attack contained under the available switching event trigger mechanism is shown in fig. 3 and 4, and the simulation data can be used for reducing the transmission quantity of the data packet under the denial of service attack, and saving communication resources while maintaining the expected control performance.
In conclusion, the invention has clear thought, more reasonable structure and more science, achieves synchronization at the exponential rate, and can further shorten the convergence time. The algorithm designed by the invention has high speed, and is simple and easy to operate.
The embodiment of the application also provides electronic equipment, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface, and the memory are communicated with each other through the communication bus;
A memory for storing a computer program;
The processor is configured to implement the secure decentralized control method of the switching event trigger control policy when executing a program stored in the memory, where the method includes:
and establishing a state space model of each subsystem of the networked interconnection large-scale system, and restraining interconnection items.
A mathematical model of an energy limited denial of service attack that each subsystem may be subjected to is built.
According to the system model with switching event triggering strategy parameters and network communication random delay and packet loss caused by denial of service attack, adopting a Lyapunov stability analysis method to design a constraint condition matrix of a controller with robust stability performance. Then toThe matrix is decoupled and converted into a linear matrix inequality, so that the matrix can be solved in computer software, and event trigger strategy parameters and controller rules meeting the system performance are calculated.
And finally, inputting and triggering strategy parameters by the collaborative design controller, and solving based on the conditions of the steps S100-S300, so as to realize safe decentralized control under the switching event triggering control strategy.
It may be understood that the system provided by the embodiment of the present invention corresponds to the method provided by the embodiment of the present invention, and explanation, examples and beneficial effects of the related content may refer to corresponding parts in the above method.
The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (english: PERIPHERAL COMPONENT INTERCONNECT, abbreviated as PCI) bus or an extended industry standard architecture (english: extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The communication interface is used for communication between the electronic device and other devices.
The Memory may include random access Memory (RAM, english: random Access Memory) or nonvolatile Memory (NVM, english: non-Volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central Processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), a digital signal processor (DIGITAL SIGNAL Processing, abbreviated as DSP), an application specific integrated Circuit (AppLication SPECIFIC INTEGRATED Circuit, abbreviated as ASIC), a Field-Programmable gate array (GATE ARRAY, abbreviated as FPGA), or other Programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.
In yet another embodiment of the present application, a computer readable storage medium is provided, in which a computer program is stored, the computer program, when executed by a processor, implements the steps of the secure decentralized control method under the above-mentioned handover event trigger control policy.
In yet another embodiment of the present application, a computer program product containing instructions that, when run on a computer, cause the computer to perform the method of secure decentralized control under any of the switching event triggered control policies of the above embodiments is also provided.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable devices. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk SoLid STATE DISK (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing embodiments are merely for illustrating the technical solution of the present invention, but not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that modifications may be made to the technical solution described in the foregoing embodiments or equivalents may be substituted for parts of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solution of the embodiments of the present invention in essence.
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