Distributed Nonconvex Cooperative Optimization for Mobile Robot Systems Under DoS Attacks
Zhizhong Liu, Yu-Kai Fu, Yiyang Liu, Chao Deng · IEEE Internet of Things Journal · 2025
In this paper, a distributed nonconvex cooperative optimization problem is considered for mobile robot systems (MRSs) under denial-of-service (DoS) attacks. Compared with the existing distributed optimization algorithms, a novel hierarchical design method is adopted, which can be divided into three parts, i.e., resilient distributed nonconvex optimization algorithm design, low-pass filters design, and backstepping-based controller design. Specifically, a resilient distributed nonconvex optimization algorithm is proposed, which ensures convergence to the optimal value under the assumption that the global cost function satisfies the Polyak-Łojasiewicz (P-Ł) condition. This condition imposes more relaxed requirements than the strong convexity assumption. Then, low-pass filters are designed to generate a new state variable with well-defined second-order time derivatives. Additionally, a backstepping-based controller is designed for MRSs with external disturbances, which ensures that MRSs can track the optimal value. Finally, a simulation example is presented to verify the effectiveness of the proposed methods.