Secure Cooperative Control for Networked Robotic Systems Under DoS Attacks

In this chapter, we consider the distributed resilient cooperative control problem for directed networked robotic systems under DoS attacks. DoS attacks will block the communication channels between the robots. Compared with the existing methods for the linear networked systems, the considered nonlinear networked robotic systems with asymmetric channels under DoS attacks are more challenging and still not well explored. To solve this issue, a novel resilient cooperative control scheme is proposed by using sampling control approach. Sufficient conditions are derived in the absence of DoS attacks according to a multidimensional small gain scheme. Then, in the presence of DoS attacks, the proposed resilient scheme works in a switching manner. Inspired by multidimensional small gain techniques, the Lyapunov approach is combined to analyze the closed-loop system, which enable us to establish sufficient stability conditions for the control gains in terms of the duration and frequency of DoS attacks.