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Resilient Finite-Time Consensus Tracking for Nonholonomic High-Order Chained-Form Systems Against DoS Attacks.

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Summary

This summary is machine-generated.

This study addresses secure consensus tracking for nonholonomic systems facing denial-of-service (DoS) attacks. A novel observer and control strategy ensure fast, resilient tracking despite communication disruptions.

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Area of Science:

Robotics
Control Systems Engineering
Cybersecurity

Background:

High-order nonholonomic chained-form systems are crucial in robotics.
Denial-of-service (DoS) attacks pose significant threats to system connectivity and performance.
Achieving consensus tracking under adversarial conditions remains a challenge.

Purpose of the Study:

To develop a resilient finite-time consensus tracking scheme for nonholonomic systems under DoS attacks.
To enhance observer convergence speed and system robustness against communication paralysis.
To ensure fast tracking performance irrespective of initial states.

Main Methods:

A novel secure distributed observer using a tangent hyperbolic function for accelerated convergence.
Acknowledgment-based attack detection and communication recovery to repair paralyzed graphs.
A fast finite-time backstepping control (FFTBC) algorithm for follower tracking.
An approximation-based approach to reduce settling-time estimation conservatism.

Main Results:

The proposed observer accelerates convergence via a high-gain effect.
DoS attack duration is shown to directly impact convergence time.
The FFTBC algorithm ensures fast finite-time consensus tracking.
The scheme demonstrates resilience against DoS attacks in simulations with wheeled mobile robots.

Conclusions:

The developed secure observer and FFTBC algorithm effectively achieve resilient finite-time consensus tracking.
The approach mitigates DoS attack impacts by restoring communication and ensuring rapid convergence.
This work contributes to robust control strategies for networked robotic systems facing cyber threats.