Resilient Tracking Control of Cyber-Physical Systems Against False Data Injection Attacks and Obstacle Avoidance

In this paper, the reliable tracking control and collision avoidance problems for cyber-physical systems (CPSs) with false data injection (FDI) attacks are investigated. FDI attacks can significantly compromise the safety and performance of CPSs by corrupting control and navigation data. Safety is an important aspect of CPSs. Unmanned ground vehicles and aerial vehicles are important applications of CPSs. The dual challenge of maintaining system safety and stability under deliberate cyberattacks, while ensuring reliable obstacle avoidance in dynamic environments, remains unresolved in many current methodologies. These challenges are amplified in CPSs owing to their reliance on real-time data and their susceptibility to adversarial manipulation. The main objective of this study is to develop a resilient tracking control strategy that can effectively mitigate the impact of FDI attacks and achieve obstacle avoidance. We propose a novel framework based on the exponential control barrier function (ECBF) and a novel observer-based auxiliary signal approach that can ensure the resilience of CPSs against FDI attacks and obstacle avoidance. The effectiveness of our methods is shown through extensive simulations and physical experiments, which depict improved tracking accuracy and system stability in the presence of FDI attacks as compared with those of traditional control methods.Note to Practitioners—This research tackles the problem of maintaining dependable tracking control and avoiding collisions in CPSs vulnerable to FDI attacks, with applications in fields such as smart transportation and smart city. To mitigate the impact of FDI attacks, we propose a resilient control strategy that uses exponential ECBF and an observer-based auxiliary signal approach. This framework mitigates the impact of corrupted data, maintains system stability, and avoids collisions, even in the presence of cyberattacks. Practitioners in CPS design and deployment can benefit from this approach by integrating it into existing systems to improve safety and security. The proposed method is validated through both simulations and physical experiments, demonstrating its practicality for real-world applications.