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

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.