Cooperative control method for heterogeneous wireless networked robots based on parallel control

Beibei Su; Xingjie Huang; Jinmeng Zhao; Chan Wang; Zixian Dong; Jiaqi Duan

doi:10.1117/12.2683560

26 June 2023 Cooperative control method for heterogeneous wireless networked robots based on parallel control

Beibei Su, Xingjie Huang, Jinmeng Zhao, Chan Wang, Zixian Dong, Jiaqi Duan

Proceedings Volume 12714, International Conference on Computer Network Security and Software Engineering (CNSSE 2023); 127141W (2023) https://doi.org/10.1117/12.2683560
Event: Third International Conference on Computer Network Security and Software Engineering (CNSSE 2023), 2023, Sanya, China

Abstract

The information network of the power grid enterprise is the same as the information system of the common Internet, and its application layer has a lot of general IT software. In order to mine all kinds of software vulnerabilities timely and ensure the normal operation of the software system, the most obvious disadvantage of this method is the low efficiency of implementation, which requires manual dynamic testing after the end of software development. It also needs to track the location of vulnerabilities according to the test results. In this paper, the cooperative control of heterogeneous wireless networked robots based on parallel control is proposed, and the configuration of defense resources is studied from the perspective of protection. Firstly, based on the network security robot, the game model of both sides of the power grid attack and defense under coordinated attack is established, and the optimal defense resource allocation strategy is analyzed and solved. Then, for heterogeneous wireless networks, a step-by-step solution is proposed based on parallel control optimization, and the allocation method of defense resources is formulated. Finally, the proposed method is verified on the simulation test system and compared with AUKF and IMM-UKF. The experimental results verify that the proposed method performs well in error control when the execution state changes, and achieves high accuracy, good stability and strong security prediction ability in general. It can ensure the safety of power grid and promote the healthy development of the national power industry.

Citation Download Citation

Beibei Su, Xingjie Huang, Jinmeng Zhao, Chan Wang, Zixian Dong, and Jiaqi Duan "Cooperative control method for heterogeneous wireless networked robots based on parallel control", Proc. SPIE 12714, International Conference on Computer Network Security and Software Engineering (CNSSE 2023), 127141W (26 June 2023); https://doi.org/10.1117/12.2683560

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KEYWORDS

Robots

Network security

Information security

Control systems

Power grids

Clouds

Matrices

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