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

To further reduce the consumption of the communication bandwidth and computing resource, we further consider the dynamic event-based resilient coordination control problem of networked robotic systems under DoS attacks in this chapter. Compared with the static ETC method used in Chap. 6 , DETC can achieve higher resource utilization efficiency. In this chapter, a coordination controller based on a dynamic event-trigger mechanism is designed for networked robotic systems in the absence of DoS attacks, where the topology is strongly connected. Sufficient conditions are presented to guarantee that the closed-loop system is stable. Then the resilient coordination with event-based controllers under energy-constrained DoS attacks is analyzed. The stability conditions related to the duration and frequency of DoS attacks are established and Zeno behavior is proved that it does not exist under the proposed control scheme. Finally, some numerical simulation results are given for verifying the theoretical results.