Fuzzy Adaptive Secure Tracking Control for Cyber-Physical Systems with State Constraints

The adaptive secure controller is developed for state-constrained uncertain cyber-physical systems against sensor and actuator attacks. Firstly, fuzzy logic systems are utilized to estimate the unknown nonlinear function. Secondly, the non-linear mapping function is introduced to transform the state-constrained system into an unconstrained one and directly deal with the state-constrained issue. By ensuring the boundedness of the transformed system state, the state-constrained condition is not violated in the absence of the feasibility condition of the barrier Lyapunov function. Then, the deception attacks suffered by the sensor channel and actuator channel are modeled as a multiplicative form to decouple the control of network attacks from state constraints. With the help of the command filter, the derivatives of virtual control signals can be directly obtained and the fuzzy adaptive controller is designed to ensure that all signals of the closed-loop system are bounded. Finally, the effectiveness of the developed method is further verified by a numerical simulation.