Adaptive tracking control of two-wheeled mobile robots under Denial-of-Service attacks

This paper focuses on the tracking control problem for the two-wheeled mobile robot (TWMR) with unknown parameters. The robot collects its own states from the networked positioning system, which is subject to Denial-of-Service (DoS) attacks. To handle the uncertainties in the robot model and mitigate the attack effects on the system performance, parameter estimators with the projection operator technique are introduced. Then, an adaptive tracking controller is designed by adopting the backstepping technique. Correspondingly, a stability condition is derived, which guarantees that all the closed-loop signals are semi-globally uniformly bounded and tracking errors can converge to an adjustable compact set. The stability condition also reveals the relationships among the attack durations, design parameters and tracking errors, which can be utilized to guide the choice of design parameters. Experimental results are provided to validate the effectiveness of the proposed control scheme.