Control of Bilateral Teleoperation Systems with Observer-Based Detection of Data Injection Attack

In this paper, the control performance of a bilateral teleoperation system is studied in the presence of a data injection attack. It is shown that even a simple data injection attack has the potential to deteriorate the system's guaranteed stability. Hence, a high-gain observer algorithm is proposed to detect data injection attacks. The stability of the closed-loop system with the passivity-based control law of robot manipulators, together with the proposed observer-based attack detection scheme, is proven using the ISS approach and small gain theorem. Finally, simulation results are presented, to demonstrate the accuracy and effectiveness of the proposed method.