Zhejiang University of Technology
National Natural Science Foundation of China (61803334)，Zhejiang Provincial Natural Science Foundation of China (LZ21F030004)，Fundamental Research Funds for the Zhejiang Provincial Universities (RF-C2020003)
This paper studies the attack reconstruction problem for networked motion control systems under sensor networks. A new distributed projected intermediate estimator (DPIE) is proposed to reconstruct the actuator and sensor attacks. A projection operator is introduced to determine the set of attacked signal channels. Meanwhile, a least square algorithm is designed to alleviate the computational burden of the observers in the process of generating new estimates. In addition, a distributed estimation framework is introduced to improve the scalability and scalability of the proposed algorithm. It is shown that both the estimation accuracy and real-time performance of the proposed algorithm are better than those of the existing extended state observer and gradient descent algorithm respectively. Finally, the experimental results of the motion control system are given to verify the effectiveness of the proposed methods.