Adaptive intrusion tolerant control for a class of uncertain nonlinear cyber–physical systems with full-state constraints

In this paper, we investigate the tracking control issue for a kind of state-constrained nonlinear cyber–physical systems (CPSs) with exogenous interferences, which are subject to deception attacks started in controller–actuator (C–A) channel. Firstly, we design a nonlinear state dependent function (NSDF) which only relies on the restricted states to deal with the asymmetric state constraints. Furthermore, introducing a coordinate transformation and integrating it into each step of dynamic surface control (DSC) based backstepping method, we wholly evade the feasibility condition forced on the virtual control signals. As a result, a novel adaptive tracking control scheme is developed, which is capable of settling exogenous disturbances and deception attacks concurrently. Especially, the proposed control architecture can not only make sure that all the tracking errors converge into a pre-defined small region of the equilibrium point, but also guarantee that the total signals of the closed loop system conform to the corresponding state restrictions. Eventually, the benefits and superiority of the proposed control framework are theoretically authenticated and practically illustrated through a representative example.