Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks

Bong-Seok Park,Sung-Jin Yoo

doi:10.3390/math9182190

Bong-Seok Park, Sung-Jin Yoo

Open Access

https://doi.org/10.3390/math9182190

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Journal: Mathematics	Publication Date: Sep 7, 2021
Citations: 3	License type: CC BY 4.0

Affiliation: Kongju National University, Chung-Ang University

Abstract

This paper addresses an adaptive secure control problem for the leader-follower formation of nonholonomic mobile robots in the presence of uncertainty and deception attacks. It is assumed that the false data of the leader robot’s information attacked by the adversary is transmitted to the follower robot through the network, and the dynamic model of each robot has uncertainty, such as unknown nonlinearity and external disturbances. A robust, adaptive secure control strategy compensating for false data and uncertainty is developed to accomplish the desired formation of nonholonomic mobile robots. An adaptive compensation mechanism is derived to remove the effects of time-varying attack signals and system uncertainties in the proposed control scheme. Although unknown deception attacks are injected to the leader’s velocities and the model nonlinearities of robots are unknown, the boundedness and convergence of formation tracking errors of the proposed adaptive control system are analyzed in the Lyapunov sense. The validity of the proposed scheme is verified via simulation results.

Highlights

Study efforts have actively proceeded to apply the cooperation technique of multirobot systems to various areas, such as industries, commerce, and the military
In [18], an adaptive control scheme for second-order nonlinear systems was presented to deal with time-varying parameters and an unknown control direction brought by the injection and deception attacks
An adaptive resilient event-triggered control method at the kinematic level was proposed for single autonomous vehicles with DoS attacks [19], performance degradation due to uncertainty arising from the dynamic model is inevitable

Summary

Introduction

Study efforts have actively proceeded to apply the cooperation technique of multirobot systems to various areas, such as industries, commerce, and the military. In [13], an adaptive event-triggered mechanism was proposed for the networked control systems (NCS) under deception attacks and stochastic nonlinearity. In [16], a neural-network-based controller was presented for uncertain nonlinear time-delay cyberphysical systems in the presence of sensor and actuator attacks. In [18], an adaptive control scheme for second-order nonlinear systems was presented to deal with time-varying parameters and an unknown control direction brought by the injection and deception attacks. All these papers cannot be applied to nonholonomic mobile robots due to the underactuation problem. The deception attack problem was not considered in [19]

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