A Dynamic Controller Design for Trajectory Tracking Control of Wheeled Mobile Robot Under Stochastic Denial of Service Attacks
Qing Jia Geng, Ling Zhao, Li Li, Fucai Liu · IEEE Transactions on Circuits & Systems II Express Briefs · 2022
This brief investigates the trajectory tracking control problem for a networked wheeled mobile robot (WMR) under stochastic denial of service (DoS) attacks. The attacker presents a considerable security threat to the wireless network by sending a large amount of redundant data, resulting in communication interruption and packets dropout. In view of random properties of the DoS attack, a Markov modulated DoS attack strategy is considered, where the attacker stochastically jams the transmitted signals using a Markov model. To defend against the DoS attacks, a hybrid dynamic model is developed and a novel dynamic controller is designed to attain desired tracking performance for the WMR. Then sufficient condition of uniformly globally asymptotically stability (UGAS) is given for the hybrid system. A practical experiment is conducted for the WMR connected by the wireless network under stochastic DoS attacks, which expresses the validity and effectiveness of the proposed theoretical results.