Nussbaum gain adaptive control for full-state constrained cyber-physical system under network attacks and actuator failures

In this article, an adaptive security control scheme is proposed for a class of nonlinear time-varying full-state constrained cyber-physical system with false data injection attacks and actuator failures. Aiming at the problem of sensor network attack, the influence of sensor network attack is reduced by backstepping technique and Nussbaum function. In the control design process, the time-varying barrier Lyapunov function is used to constrain the system states. In addition, adaptive laws are designed to eliminate the influence of actuator faults (effectiveness loss and bias fault). And the developed controller ensures that the state constraints will not be violated when sensor attacks and actuator faults occur simultaneously. Finally, the simulation result verify the effectiveness of the scheme.