Event-Based Secure Coordination of Networked Robotic Systems Under DoS Attacks

In this chapter, we further consider the event-triggered coordination control of networked robotic systems under DoS attacks. Since the limited communication bandwidth and computing resource of networked robotic systems, it is necessary to consider saving these consumption in the secure control design. Compared with the continuous-time control in Chaps. 2 – 5 , the event-based secure control of the networked Lagrangian systems is more complex and challenging, especially under the conditions of asymmetry communication. To this end, an event-based controller is firstly designed for consensus control of networked robotic systems in the absence of DoS attacks. Sufficient conditions are given to stabilize the closed-loop systems. Then the resilience analysis is presented for the event-based controller under DoS attacks. Some conditions associated with the DoS duration and frequency are proposed for the control parameters against the attacks. Then Zeno behaviors are proved to be nonexistent in the proposed control scheme. An algorithm is also given to guide the control design.