Distributed Adaptive Formation Tracking Control of Mobile Robots With Event-Triggered Communication and Denial-of-Service Attacks

Abstract

This paper focuses on distributed adaptive formation tracking control of mobile robots under event-triggered communication (ETC) and Denial-of-Service (DoS) attacks. Dynamic level of model for mobile robots and directed communication graph condition are considered. To handle the constraint that only part of the robots can access full knowledge of the desired trajectories, distributed event-triggered based estimators are designed. Then, an adaptive tracking control scheme is designed for each robot by utilizing backstepping tech- nique. By analyzing the effects of DoS attacks on ETC, a stability condition constraining the active and suspended durations for each attack period is provided, based on which all closed-loop signals are ensured to be locally uniformly bounded. Moreover, Zeno behaviors are excluded. Experimental results are presented to validate theoretical findings.