相关论文: Zero-dynamics Attack, Variations, and Countermeasu…

We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving…

Moving Target Defense (MTD) is commonly formulated as a repeated security game to mitigate persistent threats. Although the strong Stackelberg equilibrium (SSE) characterizes the defender's optimal strategy in the leader-follower framework,…

Outsourced training and machine learning as a service have resulted in novel attack vectors like backdoor attacks. Such attacks embed a secret functionality in a neural network activated when the trigger is added to its input. In most works…

We address the problem of detecting and mitigating the effect of malicious attacks to the sensors of a linear dynamical system. We develop a novel, efficient algorithm that uses a Satisfiability-Modulo-Theory approach to isolate the…

In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

This article considers the problem of risk-optimal allocation of security measures when the actuators of an uncertain control system are under attack. We consider an adversary injecting false data into the actuator channels. The attack…

This paper addresses the set-point control problem of a heat equation with in-domain actuation. The proposed scheme is based on the framework of zero dynamics inverse combined with flat system control. Moreover, the set-point control is…

Dynamic security analysis is an important problem of power systems on ensuring safe operation and stable power supply even when certain faults occur. No matter such faults are caused by vulnerabilities of system components, physical…

Safety is critical in robotic tasks. Energy function based methods have been introduced to address the problem. To ensure safety in the presence of control limits, we need to design an energy function that results in persistently feasible…

This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication,…

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…

In this paper, we address two main problems in the context of covert cyber-attacks in cyber-physical systems (CPS). First, we aim to investigate and develop necessary and sufficient conditions in terms of disruption resources of the CPS…

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…

Recent studies reveal that Autonomous Vehicles (AVs) can be manipulated by hidden backdoors, causing them to perform harmful actions when activated by physical triggers. However, it is still unclear how these triggers can be activated while…

Adversarial attacks to graph analytics are gaining increased attention. To date, two lines of countermeasures have been proposed to resist various graph adversarial attacks from the perspectives of either graph per se or graph neural…

Cyber-physical systems integrate computation, communication, and physical capabilities to interact with the physical world and humans. Besides failures of components, cyber-physical systems are prone to malignant attacks, and specific…

A new class of critical points, termed as perpetual points, where acceleration becomes zero but the velocity remains non-zero, are observed in dynamical systems. The velocity at these points is either maximum or minimum or of inflection…

We study the identification of a linear time-invariant dynamical system affected by large-and-sparse disturbances modeling adversarial attacks or faults. Under the assumption that the states are measurable, we develop necessary and…

The growing complexity of cyber attacks has necessitated the evolution of firewall technologies from static models to adaptive, machine learning-driven systems. This research introduces "Dynamically Retrainable Firewalls", which respond to…