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Resilient consensus control for networked robotic manipulators under actuator faults and deception attacks.

Van-Truong Nguyen1, Van-Tam Ngo1, Le Anh Tuan2

  • 1Faculty of Mechatronics, SMAE, Hanoi University of Industry, Hanoi, Viet Nam.

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|February 23, 2025
PubMed
Summary

This study presents a resilient control algorithm for robotic manipulators to achieve consensus despite faults and deception attacks. The adaptive control approach enhances system reliability without needing explicit fault detection.

Keywords:
Actuator faultsDeception attacksEuler–Lagrange systemsLeader-follower consensusResilient control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Cyber-Physical Systems

Background:

  • Consensus control is crucial for multi-agent systems.
  • Systems face challenges from actuator faults and deception attacks.
  • Existing methods may require explicit fault detection.

Purpose of the Study:

  • To develop a resilient consensus control algorithm for robotic manipulators.
  • To achieve leader-follower consensus despite actuator faults and deception attacks.
  • To enhance system robustness without requiring fault detection.

Main Methods:

  • Adaptive fault-tolerant tracking control for performance.
  • Adaptive observer to counter deception attacks.
  • Lyapunov techniques and equivalence principle for stability analysis.

Main Results:

  • Demonstrated stability of the robotic manipulator network.
  • Confirmed convergence of filtered errors.
  • Validated effectiveness of the control framework via simulations.

Conclusions:

  • The proposed adaptive control framework enhances robotic system reliability.
  • The approach successfully achieves resilient consensus under faults and attacks.
  • The method's ability to bypass fault detection improves applicability.