An Improved Residual-Based Detection Method for Stealthy Anomalies on Mobile Robots

With the expansion of cyber-physical system (CPS) application area, its importance has become more and prominent. As one typical applications CPS, anomaly detections mobile robots have attracted attention all parties. part face problem that conventional residual-based detection methods cannot identify stealthy anomalies. The mainly use residual signal calculated from control measure output for detection, which is widely used in fault diagnosis. Still, it difficult to be useful deceptive anomalies purposefully imposed on robots, are designed evade by tampering with output. Furthermore, they can deviate expected operations, causing degradation performance or even damage without being detected. Based this, analyzing model CPS conditions anomalies, improved method proposed this paper. Moreover, three an omnidirectional robot (OMR) detected using method. Finally, experimental results show effectively detect OMR.