Synchronous Control of Bilateral Teleoperation under Hybrid Attacks

The wide prospect of bilateral teleoperation system in various practical applications has attracted many researchers to study its control methods. This scholarly work addresses the control challenges inherent to bilateral teleoperation systems subjected to hybrid cyber-attacks. A model is developed to describe the working state of a bilateral remote operating system, taking into account the impact of denial of service (DoS) attacks and false data injection (FDI) attacks that exist with probability. An adaptive controller is designed to mitigate issues arising from data loss due to DoS attacks and packet tampering resulting from FDI attacks. When an adversary launches an attack, there will be DoS or FDI attacks in the channel of a communication network Therefore, this paper uses Bernoulli component to model the attack situation of the system. By utilizing the Lyapunov functional methodology, a criterion for global asymptotic stability is established, thereby substantiating that the master-slave system is capable of attaining global asymptotic synchronization. Finally, by selecting a manipulator system for numerical simulation, the effectiveness of the control strategy is verified.