A Lyapunov-based control design for centralised networked control systems under false-data-injection attacks

A central processing unit receives data from all agents and transmits control commands in a Networked Control System (NCS) which is centralised. Centralised NCSs have numerous applications in industrial settings due to their efficiency, simplicity and cost-effective design. However, centralised NCSs are vulnerable to false data injection (FDI) attacks. Despite the fact that researchers have developed detection and mitigation defense mechanisms during past several years, most of these methods have focused on systems with linear dynamics. Furthermore, the existing literature only assumes the injection of FDI attacks on measurement signals. In this paper, we assume that an adversary has injected the FDI attack into both state measurements and control signals with nonlinear dynamics while considering communication noises and disturbances. We propose a secure nonlinear control design that mitigates FDI attacks in real time by combining learning and model-based approaches. We used Lyapunov stability analysis to design the controller, estimator and updating laws of the neural network (NN). In addition, we selected a network of two robots with Euler–Lagrange dynamics to illustrate the robustness of the proposed controller and estimator.