Hybrid Dynamic Event-Triggered Tracking Control of Wheeled Mobile Robots Against Stochastic DoS Attacks

Abstract

This article focuses on hybrid dynamic event-triggered security tracking control of wheeled mobile robots (WMRs) against round-trip stochastic denial of service (DoS) attacks. To characterize the random properties, DoS attacks are modulated as Markov switched processes. A hybrid dynamic model is characterized and a hybrid dynamic event-triggering mechanism (ETM) is proposed for the WMR, which achieve larger triggering intervals than the static one. To actively defend against the DoS attacks and achieve the trajectory tracking control, a hybrid dynamic controller is designed with a dynamic parameter that reflects the DoS attacks in real time. The uniformly globally asymptotically stability (UGAS) condition of the addressed hybrid dynamic WMR system is obtained. Practical experiments are provided for illustration of the provided theoretical results.