IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
권호 표지
DOI QR코드

DOI QR Code

Kalman Filter Based Resilient Cyber-Physical System and its Application to an Autonomous Vehicle

칼만필터를 이용한 사이버 물리 시스템의 자율 복원성 확보 기법 및 자율주행차량 적용 연구

  • Received : 2019.09.06
  • Accepted : 2019.09.30
  • Published : 2019.10.31
Download PDF
⟨ Previous Next ⟩

Abstract

Recently, successful attacks on cyber-physical systems have been reported. As existing network security solutions are limited in preventing the system from malicious attacks, appropriate countermeasures are required from the perspective of the control. In this paper, the cyber and physical attacks are interpreted in terms of actuator and sensor attacks. Based on the interpretation, we suggest a strategy for designing Kalman filters to secure the resilience and safety of the system. Such a strategy is implemented in details to be applied for the lateral control of autonomous driving vehicle. A set of simulation results verify the performance of the proposed Kalman filters.

Keywords

References

  1. M. Bhrugubanda, "A Review on Applications of Cyber Physical Systems," Journal of Innovative Research in Science, Engineering and Technology, Vol. 2, No. 6, pp. 728-730, 2015.
  2. Y.S. Eun, K.J. Park, M.G. Won, T.J. Park, S.H. Son, "Recent Trends in Cyber-Physical Systems Research," Journal of Communications of the Korea Institute of Information Scientists and Engineers, Vol. 30, No. 12, pp. 8-15, 2013 (in Korean).
  3. J. Slay, M. Miller, "Lessons Learned From the Maroochy Water Breach," Journal of Critical Infrastructure Protection, Vol. 253, pp. 73-82, 2007. https://doi.org/10.1007/978-0-387-75462-8_6
  4. Avaliable on : https://www.computerworld.com/article/2515570
  5. Avaliable on : https://keenlab.tencent.com/en/2016/09/19/Keen-Security-Lab-of-Tencent-Car-Hacking-Research-Remote-Attack-to-Tesla-Cars/
  6. A. Cardenas, S. Amin, S. Sastry, "Research Challenges for the Security of Control Systems," Proceedings of 3rd Conference Hot Topics Security, pp. 1-6, 2008.
  7. A. Teixeira, D. Perez, H. Sandberg, K.H. Johansson, "Attack Models and Scenarios for Networked Control System," Proceedings of 1st Conference High Confidence Networked Systems, pp. 55-64, 2012.
  8. Y.Z. Lum, A. D'Innocenzo, F. Smarra, I. Malavolta, M.D. Di Bendetto, "State of the Art of Cyber-physical Systems Security: An Automatic Control Perspective," Journal of System Software, Vol. 149, pp. 174-216, 2019. https://doi.org/10.1016/j.jss.2018.12.006
  9. H. Shisheh foroush, S. Martinez, "On Multi-input Controllable Linear Systems Under Unknown Periodic dos Jamming Attacks," Proceedings of SIAM Conference Control and its Applications, 2013.
  10. M. Zhu, S. Martinez, "Stackelberg-game Analysis systems," Proceedings of American Control Conference, pp. 4063-4068, 2011.
  11. C. Won, I. Hwang, "Analytical Analysis of Cyber Attacks on Unmanned Aerial Systems," Proceedings of AIAA Conference on Guidance Navigation and Control, 2013.
  12. S.M. Djouadi, A.M. Melin, E.M. Ferragut, J.A. Laska, J. Dong, "Finite Energy and Bounded Attacks on Control System Sensor Signals," Proceedings of American Control Conference (ACC), pp. 1716-1722, 2014.
  13. W. Ao, Y.D. Song, C.Y. Wen, "Adaptive Cyber-physical System Attack Detection and Reconstruction With Application to Power System," Journal of lET Control Theory and Applications, Vol. 10, No. 12, pp. 1458-1468, 2016. https://doi.org/10.1049/iet-cta.2015.1147
  14. M. Darouach, M. Zasadzinski, A.B. Onana, S. Nowakowski, "Kalman Filtering With Unknown Inputs via Optimal State Estimation of Singular Systems," Journal of Systems Science, Vol. 26, No. 10, pp. 2015-2028, 1995. https://doi.org/10.1080/00207729508929152
  15. H. Fawzi, P. Tabuada, S. Diggavi, "Secure Estimation and Control for Cyber-Physical Systems Under Adversarial Attacks," Journal of IEEE Transactions on Automatic Control, Vol. 59, No. 6, pp. 1454-1467, 2014. https://doi.org/10.1109/TAC.2014.2303233
  16. R. Rajamani, Vehicle Dynamics and Control, New York, Sringer-Verlag, 2005.