Synchronous Control of Master-slave Manipulator System under Deception Attacks

【摘要】：In this paper,the synchronous control problem of the two-link master-slave manipulator system under deception attack is studied.For the communication channel is subjected to deception attack during the system control process,the sensors receive the wrong signal.The false data is injected into the controller,which affects the control effect of the system.It causes the system state to deviate from the control expectation.In order to solve this problem effectively,this paper adds a deception attack factor to the dynamics of the manipulator,and designs an adaptive law to e stimate and compensate for the system model under attack.In the design of the manipulator synchronous control system,based on Lyapunov's stability control principle,a control law that can make the system closer to stability is designed.Finally,through MATLAB simulation,the synchronization control error of the manipulator approaches zero.