A new concept is presented for air-to-air missile which is dynamic attack zone after being launched in random wind field. This new concept can be used to obtain the 4-dimensional （4-D） information regarding the dyna...A new concept is presented for air-to-air missile which is dynamic attack zone after being launched in random wind field. This new concept can be used to obtain the 4-dimensional （4-D） information regarding the dynamic envelope of an air-to-air missile at any flight time airned at different flight targets considering influences of random wind, in the situation of flight fighters coop- crated with missiles fighting against each other. Based on an air-to-air missile model, some typical cases of dynamic attack zone after being launched in random wind field were numerically simulated. Compared with the simulation results of traditional dynamic envelope, the properties of dynamic attack zone after being launched are as follows. The 4-D dynamic attack zone after being launched is inside traditional maximum dynamic envelope, but its forane boundary is usually not inside traditional no-escape dynamic envelope; Traditional dynamic attack zone can just be reliably used at launch time, while dynamic envelope after being launched can be reliably and accurately used during any flight antagonism time. Traditional envelope is a special case of dynamic envelope after being launched when the dynamic envelope is calculated at the launch time： the dynamic envelope after being launched can be inflt, enced by the random wind field.展开更多
Wide-area damping controllers(WADCs)help in damping poorly damped inter-area oscillations(IAOs)using wide-area measurements.However,the vulnerability of the communication network makes the WADC susceptible to maliciou...Wide-area damping controllers(WADCs)help in damping poorly damped inter-area oscillations(IAOs)using wide-area measurements.However,the vulnerability of the communication network makes the WADC susceptible to malicious dynamic attacks.Existing cyber-resilient WADC solutions rely on accurate power system models or extensive simulation data for training the machine learning(ML)model,which are difficult to obtain for large-scale power system.This paper proposes a novel non-intrusive hybrid two-stage detection framework that mitigates these limitations by eliminating the need for realtime access to large system data or attack samples for training the ML model.In the first stage,an autoencoder is deployed at the actuator location to detect dynamic attacks with sharp gradient variations,e.g.,triangular,saw-tooth,pulse,ramp,and random attack signals.In the second stage,an unscented Kalman filter with unknown input estimation at the control center identifies smoothly varying dynamic attacks by estimating the control signal received by the actuator using synchrophasor measurements.A modified cosine similarity(MCS)metric is proposed to compare and quantify the similarity between the estimated control signal and the control signal sent by the WADC placed at the control center to detect any dynamic attacks.The MCS is designed to differentiate between events and dynamic attacks.The performance of the proposed framework has been validated on a hardware-in-the-loop(HIL)cyber-physical testbed built by using the OPAL-RT simulator and industry-grade hardware.展开更多
Dear Editor,This letter focuses on how an attacker can design suitable improved zero-dynamics (ZD) attack signal based on state estimates of target system. Improved ZD attack is to change zero dynamic gain matrix of a...Dear Editor,This letter focuses on how an attacker can design suitable improved zero-dynamics (ZD) attack signal based on state estimates of target system. Improved ZD attack is to change zero dynamic gain matrix of attack signal to a matrix with determinant greater than 1.展开更多
Owing to the integration of energy digitization and artificial intelligence technology,smart energy grids can realize the stable,efficient and clean operation of power systems.However,the emergence of cyber-physical a...Owing to the integration of energy digitization and artificial intelligence technology,smart energy grids can realize the stable,efficient and clean operation of power systems.However,the emergence of cyber-physical attacks,such as dynamic load-altering attacks(DLAAs)has introduced great challenges to the security of smart energy grids.Thus,this study developed a novel cyber-physical collaborative security framework for DLAAs in smart energy grids.The proposed framework integrates attack prediction in the cyber layer with the detection and localization of attacks in the physical layer.First,a data-driven method was proposed to predict the DLAA sequence in the cyber layer.By designing a double radial basis function network,the influence of disturbances on attack prediction can be eliminated.Based on the prediction results,an unknown input observer-based detection and localization method was further developed for the physical layer.In addition,an adaptive threshold was designed to replace the traditional precomputed threshold and improve the detection performance of the DLAAs.Consequently,through the collaborative work of the cyber-physics layer,injected DLAAs were effectively detected and located.Compared with existing methodologies,the simulation results on IEEE 14-bus and 118-bus power systems verified the superiority of the proposed cyber-physical collaborative detection and localization against DLAAs.展开更多
This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits...This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.展开更多
In this paper, we study stealthy cyber-attacks on actuators of cyber-physical systems(CPS), namely zero dynamics and controllable attacks. In particular, under certain assumptions, we investigate and propose condition...In this paper, we study stealthy cyber-attacks on actuators of cyber-physical systems(CPS), namely zero dynamics and controllable attacks. In particular, under certain assumptions, we investigate and propose conditions under which one can execute zero dynamics and controllable attacks in the CPS. The above conditions are derived based on the Markov parameters of the CPS and elements of the system observability matrix. Consequently, in addition to outlining the number of required actuators to be attacked, these conditions provide one with the minimum system knowledge needed to perform zero dynamics and controllable cyber-attacks. As a countermeasure against the above stealthy cyber-attacks, we develop a dynamic coding scheme that increases the minimum number of the CPS required actuators to carry out zero dynamics and controllable cyber-attacks to its maximum possible value. It is shown that if at least one secure input channel exists, the proposed dynamic coding scheme can prevent adversaries from executing the zero dynamics and controllable attacks even if they have complete knowledge of the coding system. Finally, two illustrative numerical case studies are provided to demonstrate the effectiveness and capabilities of our derived conditions and proposed methodologies.展开更多
In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due...In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability展开更多
Load frequency control(LFC)is a critical function to balance the power consumption and generation.Thegrid frequency is a crucial indicator for maintaining balance.However,the widely used information and communication ...Load frequency control(LFC)is a critical function to balance the power consumption and generation.Thegrid frequency is a crucial indicator for maintaining balance.However,the widely used information and communication infrastructure for LFC increases the risk of being attacked by malicious actors.The dynamic load altering attack(DLAA)is a typical attack that can destabilize the power system,causing the grid frequency to deviate fromits nominal value.Therefore,in this paper,we mathematically analyze the impact of DLAA on the stability of the grid frequency and propose the network parameter regulation(NPR)to mitigate the impact.To begin with,the dynamic LFC model is constructed by highlighting the importance of the network parameter.Then,we model the DLAA and analyze its impact on LFC using the theory of second-order dynamic systems.Finally,we model the NPR and prove its effect in mitigating the DLAA.Besides,we construct a least-effort NPR considering its infrastructure cost and aim to reduce the operation cost.Finally,we carry out extensive simulations to demonstrate the impact of the DLAA and evaluate the mitigation performance of NPR.The proposed cost-benefit NPR approach can not only mitigate the impact of DLAA with 100%and also save 41.18$/MWh in terms of the operation cost.展开更多
文摘A new concept is presented for air-to-air missile which is dynamic attack zone after being launched in random wind field. This new concept can be used to obtain the 4-dimensional （4-D） information regarding the dynamic envelope of an air-to-air missile at any flight time airned at different flight targets considering influences of random wind, in the situation of flight fighters coop- crated with missiles fighting against each other. Based on an air-to-air missile model, some typical cases of dynamic attack zone after being launched in random wind field were numerically simulated. Compared with the simulation results of traditional dynamic envelope, the properties of dynamic attack zone after being launched are as follows. The 4-D dynamic attack zone after being launched is inside traditional maximum dynamic envelope, but its forane boundary is usually not inside traditional no-escape dynamic envelope; Traditional dynamic attack zone can just be reliably used at launch time, while dynamic envelope after being launched can be reliably and accurately used during any flight antagonism time. Traditional envelope is a special case of dynamic envelope after being launched when the dynamic envelope is calculated at the launch time： the dynamic envelope after being launched can be inflt, enced by the random wind field.
基金supported in part by ANRF(No.CRG/2021/003827/EEC)SERB(No.SIRE/SIR/2022/000984)。
文摘Wide-area damping controllers(WADCs)help in damping poorly damped inter-area oscillations(IAOs)using wide-area measurements.However,the vulnerability of the communication network makes the WADC susceptible to malicious dynamic attacks.Existing cyber-resilient WADC solutions rely on accurate power system models or extensive simulation data for training the machine learning(ML)model,which are difficult to obtain for large-scale power system.This paper proposes a novel non-intrusive hybrid two-stage detection framework that mitigates these limitations by eliminating the need for realtime access to large system data or attack samples for training the ML model.In the first stage,an autoencoder is deployed at the actuator location to detect dynamic attacks with sharp gradient variations,e.g.,triangular,saw-tooth,pulse,ramp,and random attack signals.In the second stage,an unscented Kalman filter with unknown input estimation at the control center identifies smoothly varying dynamic attacks by estimating the control signal received by the actuator using synchrophasor measurements.A modified cosine similarity(MCS)metric is proposed to compare and quantify the similarity between the estimated control signal and the control signal sent by the WADC placed at the control center to detect any dynamic attacks.The MCS is designed to differentiate between events and dynamic attacks.The performance of the proposed framework has been validated on a hardware-in-the-loop(HIL)cyber-physical testbed built by using the OPAL-RT simulator and industry-grade hardware.
基金supported in part by the National Natural Science Foundation of China(61873106,62303109)Start-Up Research Fund of Southeast University(RF1028623002)Shenzhen Science and Technology Program(JCYJ20230807114609019)
文摘Dear Editor,This letter focuses on how an attacker can design suitable improved zero-dynamics (ZD) attack signal based on state estimates of target system. Improved ZD attack is to change zero dynamic gain matrix of attack signal to a matrix with determinant greater than 1.
基金supported by the National Nature Science Foundation of China under 62203376the Science and Technology Plan of Hebei Education Department under QN2021139+1 种基金the Nature Science Foundation of Hebei Province under F2021203043the Open Research Fund of Jiangsu Collaborative Innovation Center for Smart Distribution Network,Nanjing Institute of Technology under No.XTCX202203.
文摘Owing to the integration of energy digitization and artificial intelligence technology,smart energy grids can realize the stable,efficient and clean operation of power systems.However,the emergence of cyber-physical attacks,such as dynamic load-altering attacks(DLAAs)has introduced great challenges to the security of smart energy grids.Thus,this study developed a novel cyber-physical collaborative security framework for DLAAs in smart energy grids.The proposed framework integrates attack prediction in the cyber layer with the detection and localization of attacks in the physical layer.First,a data-driven method was proposed to predict the DLAA sequence in the cyber layer.By designing a double radial basis function network,the influence of disturbances on attack prediction can be eliminated.Based on the prediction results,an unknown input observer-based detection and localization method was further developed for the physical layer.In addition,an adaptive threshold was designed to replace the traditional precomputed threshold and improve the detection performance of the DLAAs.Consequently,through the collaborative work of the cyber-physics layer,injected DLAAs were effectively detected and located.Compared with existing methodologies,the simulation results on IEEE 14-bus and 118-bus power systems verified the superiority of the proposed cyber-physical collaborative detection and localization against DLAAs.
基金supported by the National Defense Foundation of China(No.403060103)
文摘This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.
基金the financial support received from NATO under the Emerging Security Challenges Division programthe support received from NPRP (10-0105-17017) from the Qatar National Research Fund (a member of Qatar Foundation)+1 种基金the support received from the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Department of National Defence (DND) under the Discovery Grant and DND Supplemental Programssupported in part by funding from the Innovation for Defence Excellence and Security (IDEaS) program from the Department of National Defence (DND)。
文摘In this paper, we study stealthy cyber-attacks on actuators of cyber-physical systems(CPS), namely zero dynamics and controllable attacks. In particular, under certain assumptions, we investigate and propose conditions under which one can execute zero dynamics and controllable attacks in the CPS. The above conditions are derived based on the Markov parameters of the CPS and elements of the system observability matrix. Consequently, in addition to outlining the number of required actuators to be attacked, these conditions provide one with the minimum system knowledge needed to perform zero dynamics and controllable cyber-attacks. As a countermeasure against the above stealthy cyber-attacks, we develop a dynamic coding scheme that increases the minimum number of the CPS required actuators to carry out zero dynamics and controllable cyber-attacks to its maximum possible value. It is shown that if at least one secure input channel exists, the proposed dynamic coding scheme can prevent adversaries from executing the zero dynamics and controllable attacks even if they have complete knowledge of the coding system. Finally, two illustrative numerical case studies are provided to demonstrate the effectiveness and capabilities of our derived conditions and proposed methodologies.
文摘In view of engineering application, it is practicable to decompose the aerodynamics into three components： the static aerodynamics, the aerodynamic increment due to steady rotations, and the aerodynamic increment due to unsteady separated and vortical flow. The first and the second components can be presented in conventional forms, while the third is described using a one-order differential equation and a radial-basis-function （RBF） network. For an aircraft configuration, the mathematical models of 6- component aerodynamic coefficients are set up from the wind tunnel test data of pitch, yaw, roll, and coupled yawroll large-amplitude oscillations. The flight dynamics of an aircraft is studied by the bifurcation analysis technique in the case of quasi-steady aerodynamics and unsteady aerodynam- ics, respectively. The results show that： （1） unsteady aerodynamics has no effect upon the existence of trim points, but affects their stability; （2） unsteady aerodynamics has great effects upon the existence, stability, and amplitudes of periodic solutions; and （3） unsteady aerodynamics changes the stable regions of trim points obviously. Furthermore, the dynamic responses of the aircraft to elevator deflections are inspected. It is shown that the unsteady aerodynamics is beneficial to dynamic stability for the present aircraft. Finally, the effects of unsteady aerodynamics on the post-stall maneuverability
基金supported by the project Major Scientific and Technological Special Project of Guizhou Province([2024]014).
文摘Load frequency control(LFC)is a critical function to balance the power consumption and generation.Thegrid frequency is a crucial indicator for maintaining balance.However,the widely used information and communication infrastructure for LFC increases the risk of being attacked by malicious actors.The dynamic load altering attack(DLAA)is a typical attack that can destabilize the power system,causing the grid frequency to deviate fromits nominal value.Therefore,in this paper,we mathematically analyze the impact of DLAA on the stability of the grid frequency and propose the network parameter regulation(NPR)to mitigate the impact.To begin with,the dynamic LFC model is constructed by highlighting the importance of the network parameter.Then,we model the DLAA and analyze its impact on LFC using the theory of second-order dynamic systems.Finally,we model the NPR and prove its effect in mitigating the DLAA.Besides,we construct a least-effort NPR considering its infrastructure cost and aim to reduce the operation cost.Finally,we carry out extensive simulations to demonstrate the impact of the DLAA and evaluate the mitigation performance of NPR.The proposed cost-benefit NPR approach can not only mitigate the impact of DLAA with 100%and also save 41.18$/MWh in terms of the operation cost.
