Secure Cooperative Control for Networked Robotic Systems with Disturbances and DoS Attacks

This chapter continues Chap. 2 to consider the impact of external disturbances. The resilient consensus control problem of networked robotic systems in the presence of external disturbances and DoS attacks is considered. Unlike the most existing methods for linear multi-agent systems, the strong nonlinearity and unknown disturbances of networked robotic systems make the resilient control problem under DoS attacks more challenging and still not well explored. To this end, an adaptive control scheme is firstly proposed with a robust sliding mode-like term to handle the unknown bounded external disturbances. In addition, an auxiliary system is designed by using the sampled neighboring information to achieve resilience to DoS attacks. Sufficient conditions are presented by using Lyapunov and small-gain approaches. Finally, simulation results are given to verify the effectiveness of the proposed resilient consensus control approach.