Abstract
Dear Editor, This letter concerns about the security problem of underwater cyber-physical system (UCPS) for depth-keeping task in the vertical plane. A dynamic parametric model of the UCPS with ocean currents and hydrostatic is considered. With the intelligence of the controller, the objective function of a zero-sum game between the attacker and the controller is introduced. The attacker destroys the depth-keeping task of UCPS by injecting the designed false data into the system. Compared with the existing attack strategies, the attacker gets rid of the dependence on the model of UCPS by constructing a virtual linear model based on input and output (I/O) data, i.e., the measurable depth and pitch angle. Note that information such as hydrostatic pressure and hydrodynamics force cannot be accessed by attackers under the ocean environment. In addition, the dynamic programming method is adopted to solve the mixed strategies under the game framework. Finally, the effectiveness of this scheme is verified by simulation.
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