Event-Based Tracking Control of Mobile Robot With Denial-of-Service Attacks

Abstract

In the presence of malicious denial-of-service (DoS) attacks, this paper investigates the tracking control of mobile robots. Some explicit characterizations are presented for frequency and duration properties of malicious DoS attacks. A hybrid model is established by considering malicious DoS attacks and event-triggering control. The significance of this paper is to develop a set of event-triggering conditions to ensure the tracking convergence. As well, these conditions can guarantee the existence of uniformly positively minimum interval between any two successive transmissions. Finally, a practical experiment is presented by considering the tracking control of an Amigobot mobile robot over a wireless network with DoS attacks, which verifies the effectiveness of the derived results.