| Title | Robust Attitude Stabilization of Quadrotor Subject to Stealthy Actuator Attacks |
| Publication Type | Conference Paper |
| Year of Publication | 2022 |
| Authors | Rebai, Souad Bezzaoucha |
| Conference Name | 2022 International Conference on Control, Robotics and Informatics (ICCRI) |
| Keywords | actuator security, actuators, attitude control, composability, linear matrix inequalities, LMI constraints, Lyapunov approach., mathematical models, Metrics, nonlinear model, nonlinear systems, polytopic representation, pubcrawl, quadrotor, resilience, Resiliency, simulation, stabilization, stealthy attacks, T-S models, Takagi-Sugeno model, UAV |
| Abstract | This publication deals with the robust attitude stabilization of a quadrotor subject to stealthy actuator attacks. Based first on the nonlinear model of the system, the sector non-linearity approach will be applied in order to deduce a polytopic Takagi-sugeno model. In parallel, a polytopic fuzzy T-S modeling of the data-deception malicious attacks (time-varying parameters) is presented. After some mathematical development, it will be shown that our original nonlinear system subject to stealthy actuator attacks can be represented as an uncertain polytopic T-S system. Based on this latest model, basic concepts for attitude stabilization will be used to implement the control law. The stabilization conditions will be given in terms of Linear Matrix Inequalities (LMIs) deduced from a classical Lyapunov approach. In order to highlight the efficiency of the proposed approach, simulation results will be given. |
| DOI | 10.1109/ICCRI55461.2022.00018 |
| Citation Key | rebai_robust_2022 |
Robust Attitude Stabilization of Quadrotor Subject to Stealthy Actuator Attacks