Secure Tracking for Networked Robotic Systems Under DoS Attacks

Note that Chaps. 2 and 3 investigate the secure coordination control of networked robotic systems under DoS attacks and sufficient conditions are established by using the attack parameters. In this chapter, we further consider the secure cooperative tracking problem of a directed networked robotic systems under unknown DoS attacks on communication links. To this end, a new adaptive distributed resilient control scheme is proposed to resist the influence of the DoS attacks. Under the proposed control framework, the local controllers are allowed to update their control signals aperiodically and asynchronously. The resulting system is analyzed based on an improved multidimensional small gain approach. Under the derived sufficient conditions, which significantly relax the existing convergence conditions that depend on the duration and frequency of DoS attacks for linear systems, the proposed control scheme can almost ensure the resilient leader tracking under arbitrary DoS attacks with bounded durations and frequencies.