Sensor attack reconstruction for mobile robots via a switching Kalman fusion mechanism

Abstract

Due to the poor security level in current industrial network, the control performance of robots may be severely affected by cyber attacks. This paper studies the sensor attack reconstruction problem of mobile robots, where a switching Kalman fusion mechanism is proposed to reconstruct the sensor attacks online. It is shown that the proposed mechanism is better than the existing extended state observer and event-triggered sensor attack reconstruction strategy. The experiment test demonstrates the effectiveness and superiority of the proposed method.