文献类型：期刊文献

英文题名：Event-Based Tracking Control of Mobile Robot With Denial-of-Service Attacks

作者：Tang, Yang[1];Zhang, Dandan[1];Ho, Daniel W. C.[2];Yang, Wen[1];Wang, Bing[1]

机构：[1]East China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Minist Educ, Shanghai 200237, Peoples R China;[2]City Univ Hong Kong, Dept Math, Hong Kong, Peoples R China

年份：2020

卷号：50

期号：9

起止页码：3300

外文期刊名：IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS

收录：;EI(收录号：20184606073298);WOS:【SCI-EXPANDED(收录号:WOS:000562072500020)】；

基金：This work was supported in part by the National Key Research and Development Program of China under Grant 2018YFC0809302, in part by the National Natural Science Foundation of China under Grant 61751305, Grant 61673176, Grant 61573143, and Grant 21706069, in part by the Research Grants Council of the Hong Kong Special Administrative Region, China, under Grant CityU 11300415 and Grant CityU 11200717, in part by the Shanghai Natural Science Foundation under Grant 18ZR1409700, and in part by the Programme of Introducing Talents of Discipline to Universities (the 111 Project) under Grant B17017. This paper was recommended by Associate Editor J. Lu.

语种：英文

外文关键词：Mobile robots; Wheels; Denial-of-service attack; Robot kinematics; Robot sensing systems; Trajectory; Denial-of-service (DoS); event-triggering; mobile robot; tracking control

摘要：In the presence of malicious denial-of-service (DoS) attacks, this paper investigates the tracking control of mobile robots. Some explicit characterizations are presented for frequency and duration properties of malicious DoS attacks. A hybrid model is established by considering malicious DoS attacks and event-triggering control. The significance of this paper is to develop a set of event-triggering conditions to ensure the tracking convergence. As well, these conditions can guarantee the existence of uniformly positively minimum interval between any two successive transmissions. Finally, a practical experiment is presented by considering the tracking control of an Amigobot mobile robot over a wireless network with DoS attacks, which verifies the effectiveness of the derived results.