Supervisory Control of Cyber-Physical Systems Subject to Actuator Jamming Attacks

In this paper, we examine the supervisory control problem for cyber-physical systems vulnerable to actuator jamming attacks, which cause control command loss during transmission. We study this issue within the framework of discrete event systems. First, an attack structure is constructed by analyzing the closed-loop control behavior under jamming attacks. We then explore a solution to the supervisory control problem by introducing a concept of dynamically controllable language. In particular, an existence condition for a robust and nonblocking supervisor is obtained, and an algorithm deriving a supervisor capable of defending against actuator jamming attacks is proposed. An automated guided vehicle system is used as an example to demonstrate the proposed concepts and algorithm.