Observer-based finite-time event-triggered secure control for fuzzy implicit systems against deception attacks: A single-link flexible joint robotic application
Mourad Kchaou, Lotfi M. Ladhar, Mohamed Omri, Rabeh Abbassi, Houssem Jerbi · Results in Engineering · 2025
This study significantly advances the security and resilience of cyber-physical systems by presenting a novel finite-time control strategy tailored for discrete-time fuzzy implicit systems in the context of sensor and actuator attacks. The research integrates an observer to reconstruct unmeasured states during such attacks. Furthermore, the Gray Wolf Optimization (GWO) algorithm is employed alongside linear matrix inequality techniques to optimize the gains of both the controller and the observer. The effectiveness of the proposed strategy is validated through simulations using a single-link flexible joint robotic model, demonstrating its capability to maintain system stability in the presence of cyber threats. The key contributions of this research include: 1) The development of an observer-based controller designed explicitly for fuzzy implicit systems. 2) Optimization of the controller design to enhance the observer's accuracy, increase the efficient utilization of network resources, and improve overall security. 3) Validation of the proposed approach through simulations in a practical robotic application.