An Efficient Resilient MPC Scheme via Constraint Tightening Against Cyberattacks: Application to Vehicle Cruise Control

Milad Farsi, Shuhao Bian, Nasser Azad, Xiaobing Shi, Andrew Walenstein

2023

Abstract

We propose a novel framework for designing a resilient Model Predictive Control (MPC) targeting uncertain linear systems under cyber attack. Assuming a periodic attack scenario, we model the system under Denial of Service (DoS) attack, also with measurement noise, as an uncertain linear system with parametric and additive uncertainty. To detect anomalies, we employ a Kalman filter-based approach. Then, through our observations of the intensity of the launched attack, we determine a range of possible values for the system matrices, as well as establish bounds of the additive uncertainty for the equivalent uncertain system. Leveraging a recent constraint tightening robust MPC method, we present an optimization-based resilient algorithm. Accordingly, we compute the uncertainty bounds and corresponding constraints offline for various attack magnitudes. Then, this data can be used efficiently in the MPC computations online. We demonstrate the effectiveness of the developed framework on the Adaptive Cruise Control (ACC) problem.

Paper Citation

in Harvard Style

Farsi M., Bian S., Azad N., Shi X. and Walenstein A. (2023). An Efficient Resilient MPC Scheme via Constraint Tightening Against Cyberattacks: Application to Vehicle Cruise Control. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 674-682. DOI: 10.5220/0012190900003543

in Bibtex Style

@conference{icinco23,
author={Milad Farsi and Shuhao Bian and Nasser Azad and Xiaobing Shi and Andrew Walenstein},
title={An Efficient Resilient MPC Scheme via Constraint Tightening Against Cyberattacks: Application to Vehicle Cruise Control},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={674-682},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012190900003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - An Efficient Resilient MPC Scheme via Constraint Tightening Against Cyberattacks: Application to Vehicle Cruise Control
SN - 978-989-758-670-5
AU - Farsi M.
AU - Bian S.
AU - Azad N.
AU - Shi X.
AU - Walenstein A.
PY - 2023
SP - 674
EP - 682
DO - 10.5220/0012190900003543
PB - SciTePress