Security Control of SMMS Teleoperation Systems Based on DTOD Scheduling Protocol
Yuchao Huang, Xia Liu, Chengwei Pan, Yong Chen · IEEE Internet of Things Journal · 2025
This research focuses on the false data injection attacks (FDI) and communication resource competition in single-master–multiple-slaves (SMMSs) teleoperation systems and proposes a security control strategy based on dynamic try-once-discard (DTOD) scheduling protocol. An attack detector is designed to detect FDI attacks on signals transmitted through the communication channel. With the attack detection result, a DTOD scheduling protocol is designed to dynamically adjust the transmission priority of the slaves. Using the attack detection result and scheduled position and velocity, a switching controller is developed to ensure the position tracking between the master and slaves. The stability of the overall system is proven via Lyapunov functions, and comparative results validate the effectiveness of the proposed strategy. The proposed strategy not only optimizes resource allocation but also effectively defends against cyberattacks, enhancing the stability and tracking accuracy of SMMS teleoperation systems.