Fully Actuated System Approach-Based Tracking Control for High-Order Nonlinear System Under False Data Injection and Malicious Attacks

This article primarily investigates the tracking control problem of high-order uncertain nonlinear systems with odd-rational-power under false data injection (FDI) attacks and malicious attacks, based on the fully actuated system (FAS) theory. Due to the corruption of the state information by an additional attack signal, the true state information cannot be directly used for controller design. To mitigate the impact of unknown FDI attacks, a coordinate transformation is applied using the attacked state. In addition, using a piecewise smooth function approaching a saturation function, a new lemma is proposed to deal with the unknown control gain of the prescribed-time control input saturation and malicious attacks problem. Theoretical analysis demonstrates that the tracking errors converge in the prescribed time and all closed-loop system signals remain bounded. Finally, a numerical example is provided, along with a practical case study based on a single-link robotic manipulator, to validate the effectiveness of the proposed method.