Tracking Control for Constrained Nonlinear Cyber‐Physical Systems Against Actuator Attacks: A New Low‐Complexity Approach

ABSTRACT In this article, we investigate the tracking control issue for a kind of constrained nonlinear cyber‐physical systems (CPSs) with exogenous perturbations, which are subjected to venomous actuator attacks. By designing a new orientation function and error transformation function, a novel low‐complexity tracking control scheme is ulteriorly developed. The proposed control architecture owns inherent intrusion‐tolerant capacity and robustness, which is capable of settling exogenous disturbances and actuator attacks in unison. Distinct from most existing related studies, our proposed approach demands no other knowledge about model uncertainty except for the boundedness of exogenous interferences, actuator attacks and local Lipschitz conditions of nonlinearities. Besides, although there is a lack of prior knowledge about control directions, the proposed control architecture does not involve Nussbaum gain technologies, parameter estimation methods or logic switching mechanisms. Eventually, the effectiveness and superiority of the proposed control framework are illustrated through a representative application example.