Adaptive Sliding-Mode Path-Following Control of Cart-Pendulum Robots with False Data Injection Attacks

This paper addresses the displacement path-following problem for a class of disturbed cart-pendulum systems under fake data injection (FDI) actuator attacks. A filter operator is proposed to estimate weight vector caused by unknown attacks and disturbances, so that can be parameterized using neural networks. Then, combined with signals based on adaptive network integral sliding-mode techniques, robust control schemes are withdraw impacts disturbances FDI The uniformly ultimately bounded stability results closed-loop system estimations sliding functions achieved Lyapunov theory. Finally, simulation model material robot used verify strategy.