Self-Triggered Secure Coordination of Networked Robotic Systems Under Asynchronous DoS Attacks

In this chapter, self-triggered distributed secure coordination control problem of networked robotic systems with event-triggered communication under DDoS attacks is considered. Unlike the results in Chaps. 6 and 7 , this chapter considers the effects of DDoS in a self-triggered control scheme. A novel distributed dynamic event-triggered scheme is proposed to schedule the communication source under asynchronous DoS attacks on different channels. Then, a self-triggered scheme is designed to reduce the updating number of the control signals. Under the proposed adaptive control scheme, the asymptotic synchronization of the closed-loop system is guaranteed under DoS attacks. Neither the control strategy nor the dual-terminal event-triggered scheme needs a global information. Also, no Zeno behavior occurs under the proposed event-based control and communication framework. Finally, case studies are provided to show the effectiveness of the proposed method.