Adaptive estimator-based nonsingular fast terminal sliding mode control of robotic manipulator systems under FDI attacks and actuator failure

Abstract

This paper is focused on the adaptive estimator-based super-twisting nonsingular fast terminal sliding mode control of manipulator systems with false data injection (FDI) attacks and actuator failure. First, a novel mathematical model is established for the robotic manipulator systems with parameter perturbation, FDI attacks, actuator failure, external disturbance, and joint friction. As the dynamics of FDI attacks are often unknown or unpredictable, a novel adaptive fixed-time estimator-based defense method is designed to actively eliminate the negative effects induced by the FDI attacks. Meanwhile, an adaptive super-twisting nonsingular fast terminal sliding mode controller (NFTSMC) is designed to realize rapid convergence and desirable tracking precision. After that, the fixed-time stability of the manipulator systems are proved using the Lyapunov function. Finally, the comparative simulation verifies the superiority of the proposed control strategy over the current control methods.