Adaptive control of bilateral teleoperation systems with false data injection attacks and attacks detection

This paper studies adaptive control of bilateral teleoperation systems with false data injection attacks. The model of bilateral teleoperation system with false data injection attacks is presented. An off-line identification approach based on the least squares is used to detect whether false data injection attacks occur or not in the communication channel. Two Bernoulli distributed variables are introduced to describe the packet dropouts and false data injection attacks in the network. An adaptive controller is proposed to deal stability of the system with false data injection attacks. Some sufficient conditions are proposed to ensure the globally asymptotical stability of the system under false data injection attacks by using Lyapunov functional methods. A bilateral teleoperation system with two degrees of freedom is used to show the effectiveness of gained results.