Jamming-Resilient Coordination of Networked Robotic Systems with Quantized Sampling Data

The objective of this chapter is to solve the jamming-resilient synchronization control problem of networked robotic systems subject to unknown external disturbances, with the quantized sampling data. Under a jamming attack, a normal communication channel will be blocked with unknown frequencies and intervals as stated in Chap. 4 . To achieve jamming attack resilience, a robust adaptive controller is proposed for networked robotic systems. Then a novel auxiliary system is designed for each subsystem over a directed network. By using the quantized sampling data from each subsystem and its neighbors, the jamming attack can be handled by an embedded single-integral subsystem. Sufficient conditions that are independent of the attack parameters are derived to guarantee the global stability of the closed-loop system. Compared with existing jamming-resilient methods, the proposed approach is concise and resilient to any jamming attacks with unknown bounded frequencies and durations.