Introduction

These files are the simulation based on Matlab/Simulink for the paper: ATTACK-RESILIENT OBSERVER PRUNING FOR PATH-TRACKING CONTROL OFWHEELED MOBILE ROBOT.

If you use the whole codes or part of them, please cite the papers:

@proceeding{Yu2020false,
  author={Zheng, Yu and Anubi, Olugbenga Moses},
  title= "{Attack-Resilent Observer Pruning for Path-tracking Control of
Wheeled Mobile Robot}",
  series = {Dynamic Systems and Control Conference},
  volume={},
  number={},
  pages={},
  year={2020},
  publisher={ASME}
}

or:

@incollection{zheng2022resilient,
  title={Resilient Observer Design for Cyber-Physical Systems with Data-Driven Measurement Pruning},
  author={Zheng, Yu and Anubi, Olugbenga Moses},
  booktitle={Security and Resilience in Cyber-Physical Systems: Detection, Estimation and Control},
  pages={85--117},
  year={2022},
  publisher={Springer}
}

Any question about the paper, please contact Yu Zheng (yz19b@fsu.edu), Dr.Anubi (anubi@fsu.edu).

Simulation results

How to use the codes

simulation of machine learning oracle

(Refer to: Localization_oracle.m)
We use the Bernoulli uncertainty model to simulate the result of any machine learning localization algorithm's results.

codes of pruning algorithm

(Refer to: robustneess_support)
Note: the way to use the upper two set of codes
Refer to Pruning_observer_inexact.slx/Attack_localization_and_Removing/Attack_localization block.

codes of FDIA construction

getAttackIndices.m: obatin the support of the optimal attacked locations
gen_attack_channel.m: generate the successful FDIA based on the selected locations
Notice: the way to use these two set of codes, please follow the mathmatical process in the paper, and refer to the function in Pruning_observer_inexact.slx/FDIA.

codes of dynamic and kinematic model of WMR

Pruning_observer_inexact.slx/dynamic model
Pruning_observer_inexact.slx/Forward kinematic model

codes of path-tracking controller

Pruning_observer_inexact.slx/path_tracking controller

Simulation of path-tracking under FDIA

Please run Run_this_file_for_DDWMR_model firstly to set all parameters;
Pruning_observer_inexact.slx: the simulation for pruning observer based on inexact oracle
UKF_under_FDIA.slx: the simulation for only UKF
only_oracle_and_UKF.slx: the simulation for UKF based on oracle
DDWMR.slx: the path-tracking simulation without attacks

ZYblend/Resilient-path-tracking-control-for-WMR