CN-121978939-A - Data-driven-based switching type dynamic event trigger control method and device

CN121978939ACN 121978939 ACN121978939 ACN 121978939ACN-121978939-A

Abstract

The invention discloses a data-driven switching type dynamic event trigger control method and device, wherein the method comprises the steps of constructing a convex optimization problem based on measurable input state data of an offline open-loop system aiming at an unknown linear networked control system under denial of service attack, solving an optimal control gain matrix of the system based on an optimal solution of the convex optimization problem, deducing an expression of an unknown parameter based on the optimal solution and the optimal control gain matrix, designing a switching type dynamic event trigger mechanism, combining the expression of the unknown parameter, obtaining a preliminary constraint condition of the parameter to be designed in the switching type dynamic event trigger mechanism under the condition that no denial of service attack exists, and obtaining a sufficient condition of index stability of the unknown linear networked control system based on the preliminary constraint condition of the parameter to be designed aiming at the condition that the denial of service attack exists, so that a closed-loop system model is index stable at a balance point. The invention solves the problem that the network control system with unknown parameters effectively reduces the communication load under the denial of service attack.

Inventors

ZHAO XUEYAN
JIA CHENGCHENG
DENG FEIQI

Assignees

华南理工大学

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (10)

1. A data-driven-based switching-type dynamic event trigger control method, characterized in that the method comprises: aiming at an unknown linear networked control system under denial of service attack, constructing a convex optimization problem based on measurable input state data of an offline open-loop system; deriving an expression of the unknown parameter based on the optimal solution and the optimal control gain matrix; Designing a switching type dynamic event trigger mechanism, and combining an expression of an unknown parameter to obtain a preliminary constraint condition of a parameter to be designed in the switching type dynamic event trigger mechanism under the condition of no denial of service attack; Aiming at the condition of denial of service attack, based on the preliminary constraint condition of the parameters to be designed, obtaining the sufficient condition of index stability of the unknown linear networked control system so as to ensure that the closed loop system model is index stable at the balance point; Wherein the convex optimization problem is as follows: ; Wherein, the ; In the formula, Representation matrix And Q and R each represent a given positive weighting matrix, 、、 Each representing a measurable input state dataset.
2. The method for controlling the triggering of a dynamic event according to claim 1, wherein the solving the optimal control gain matrix of the system based on the optimal solution of the convex optimization problem comprises: Based on optimal solution Solving the following matrix equation : ; Obtaining the optimal control gain matrix of the system 。
3. The method for controlling the triggering of a switching type dynamic event according to claim 2, wherein the designing the switching type dynamic event triggering mechanism comprises: the mathematical model for constructing the switching type dynamic event triggering mechanism is as follows: ; Wherein: , , ; Wherein, the Is a dynamic variable for adjusting the trigger error threshold, an initial value The dynamic function expression is: ; In the formula, Represent the first The moment of triggering of the dynamic event, Is a non-negative integer; The parameters to be designed are represented by the parameters, Representation system The state variable of the moment of time, Representation system A state variable of time; representing signal variables transmitted from ACK to dynamic event triggering mechanism if The trigger mechanism is updated to dynamic event trigger, if so The trigger mechanism is updated to periodic triggers.
4. The method for controlling the triggering of a switching type dynamic event according to claim 3, wherein the obtaining the preliminary constraint condition of the parameter to be designed in the switching type dynamic event triggering mechanism in combination with the expression of the unknown parameter under the condition of no denial of service attack comprises: Construction of Lyapunov function without denial of service attack ; In the time interval On, to Deriving and utilizing Halanay inequality; In the time interval On, to Deriving and incorporating event-triggered constraints ; Finally get the time interval Parameters in dynamic event trigger mechanism And So that the following conditions are satisfied: ; In the matrix , Representing a measurable input state dataset; representing adjustable parameters, meeting Parameter(s) Respectively defined as: ; In the formula, Representing an unknown matrix of real constants, Representation matrix Is used to determine the minimum feature root of the (c), Representation matrix Is used to determine the minimum feature root of the (c), Representation matrix Is the largest feature root of (1).
5. The method for controlling the dynamic event triggering of switching as set forth in claim 1, wherein the obtaining the sufficient condition for the index stabilization of the unknown linear networked control system based on the preliminary constraint condition of the parameter to be designed for the case of denial of service attack includes: Will be Is defined as a slave To the point of A set of completely valid intervals within the time frame, successfully transmitted at the last moment and without any DoS attack: ; Wherein, the Defined as extended DoS attack interval, i.e. represented in interval Upper part Is a complement of (a); the trigger mechanism is updated to dynamic event trigger; introduction time sequence And , Represents a non-negative set of integers, wherein, Indicating a full active interval of the communication, Representation of Complement of (2), give back And Is defined by: , ; When (when) When the system is used, the system stability is analyzed by adopting a Lyapunov function method under a dynamic event trigger mechanism, and the Lyapunov function is used Wherein, the method comprises the steps of, Representation system The state variable of the moment of time, The matrix is represented by a representation of the matrix, Is a dynamic variable for adjusting the trigger error threshold; When (when) Time, order Is shown in The last successful transmission time before, at this time, the control signal of the system is Introducing intermediate state variables , And Two relationships exist between: And ; The same part of the stability analysis of both relationships was extracted, summarizing the following: Case 1: Indicating no exposure to The method comprises the steps of influencing and successfully transmitting data last time, wherein the constraint conditions of a Lyapunov function method and a dynamic event triggering mechanism are adopted at the moment to obtain a sufficient condition that the index of a system at a balance point is stable in a local time interval; case 2: , Indicating no exposure to The method comprises the steps of obtaining a full condition of stable index of a system at a balance point in a local time interval by adopting a Lyapunov function method, a Young inequality and system state variable characteristics; Case 3: , Or (b) Representing the received And obtaining the sufficient condition of stable index of the system at the balance point in the local time interval by adopting the Lyapunov function method and Halanay inequality.
6. The method of any one of claims 1-5, wherein the input state data set is measured 、、 The method comprises the following steps of: ; Wherein: ; ; ; In the formula, Representing from 0 to Is a non-negative integer of (a), The number of samples to be collected is indicated, Representing a sampling period of data acquisition; represent the first Time of day state variable measurement And the first Time of day state variable measurement The difference between the two, Representation system Control input of time of day From the slave To the point of Is a function of the integrated value of (a), Representation system State variable of time of day From the slave To the point of M, n each represent the dimension of a matrix or vector, and 。
7. The method for controlling triggering of a switching dynamic event according to any one of claims 1 to 5, wherein the model of the unknown linear networked control system is: ; In the formula, 、 All represent an unknown matrix of real constants, Representation system A state variable of time; Representation system A control input of the moment of time, The optimal control matrix to be solved is obtained; , represent the first The moment of triggering of the dynamic event, Is a non-negative integer.
8. A data-driven based switching type dynamic event trigger control device, the device comprising: the construction module is used for constructing a convex optimization problem based on the measurable input state data of the offline open-loop system aiming at the unknown linear networked control system under the denial of service attack; the deduction module is used for deducting the expression of the unknown parameters based on the optimal solution and the optimal control gain matrix; The design module is used for designing a switching type dynamic event trigger mechanism and combining an expression of an unknown parameter to obtain a preliminary constraint condition of the parameter to be designed in the switching type dynamic event trigger mechanism under the condition of no denial of service attack; The stabilizing module is used for obtaining a sufficient condition of index stability of the unknown linear networked control system based on the preliminary constraint condition of parameters to be designed aiming at the condition of denial of service attack, so that the closed loop system model is index stable at a balance point; Wherein the convex optimization problem is as follows: ; Wherein, the ; In the formula, Representation matrix And Q and R each represent a given positive weighting matrix, 、、 Each representing a measurable input state dataset.
9. A terminal device comprising a processor and a memory for storing a program executable by the processor, wherein the processor implements the switching type dynamic event trigger control method according to any one of claims 1 to 7 when executing the program stored in the memory.
10. A computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the switching dynamic event trigger control method of any of claims 1 to 7.

Description

Data-driven-based switching type dynamic event trigger control method and device Technical Field The present invention relates to the field of networked control systems and network security technologies, and in particular, to a data-driven switching-based dynamic event trigger control method, apparatus, terminal device, computer-readable storage medium, and computer program product. Background The networked control system is a novel control system formed by combining a traditional control system and a network communication channel, the system generally utilizes a communication network to complete the data transmission task, can realize remote control, and has the advantages of easy maintenance, high flexibility, low cost and the like. Networked control systems are now being applied to a number of industrial automation fields such as smart grids, automated smart factories, remote fault diagnosis, advanced manufacturing systems, etc. However, unknown systems, communication limitations, and denial of service attacks pose significant challenges to maintaining stable control performance. Currently, most networked control systems are developed for known systems, and control laws, event trigger mechanism parameters, etc. are usually designed according to a system model and by using system parameters. As can be seen, the system parameters are closely related to overall system control design and robustness. However, the complexity of the system and the variability of the industrial process make it time consuming and material costly to build accurate mathematical models. In the case of unknown system information, the problem of data-driven control of networked control systems is receiving increasing attention. Disclosure of Invention The invention provides a data-driven switching type dynamic event trigger control method, a data-driven switching type dynamic event trigger control device, terminal equipment, a computer readable storage medium and a computer program product, and aims to solve the problem that a networked control system with unknown parameters effectively reduces communication load under denial of service attack. A first object of the present invention is to provide a data-driven based switching type dynamic event trigger control method. A second object of the present invention is to provide a data-driven based switching type dynamic event trigger control device. A third object of the present invention is to provide a terminal device. A fourth object of the present invention is to provide a computer-readable storage medium. A fifth object of the invention is to provide a computer program product. The first object of the present invention can be achieved by adopting the following technical scheme: aiming at an unknown linear networked control system under denial of service attack, constructing a convex optimization problem based on measurable input state data of an offline open-loop system; deriving an expression of the unknown parameter based on the optimal solution and the optimal control gain matrix; Designing a switching type dynamic event trigger mechanism, and combining an expression of an unknown parameter to obtain a preliminary constraint condition of a parameter to be designed in the switching type dynamic event trigger mechanism under the condition of no denial of service attack; Aiming at the condition of denial of service attack, based on the preliminary constraint condition of the parameters to be designed, obtaining the sufficient condition of index stability of the unknown linear networked control system so as to ensure that the closed loop system model is index stable at the balance point; Wherein the convex optimization problem is as follows: ; Wherein, the ; In the formula,Representation matrixAnd Q and R each represent a given positive weighting matrix,、、Each representing a measurable input state dataset. Preferably, the measurable input state data set、、The method comprises the following steps of: ; Wherein: ; ; ; In the formula, Representing from 0 toIs a non-negative integer of (a),The number of samples to be collected is indicated,Representing a sampling period of data acquisition; represent the first Time of day state variable measurementAnd the firstTime of day state variable measurementThe difference between the two,Representation systemControl input of time of dayFrom the slaveTo the point ofIs a function of the integrated value of (a),Representation systemState variable of time of dayFrom the slaveTo the point ofM, n each represent the dimension of a matrix or vector, and。 Preferably, the solving the optimal control gain matrix of the system based on the optimal solution of the convex optimization problem includes: Based on optimal solution Solving the following matrix equation: ; Obtaining the optimal control gain matrix of the system。 Preferably, the design switching type dynamic event triggering mechanism comprises: the mathematical model for constructing the switching typ