文献类型：期刊文献

英文题名：Event-Triggered Practical Predefined-Time Control for Euler-Lagrange Systems Against Deception Attacks

作者：Shi, Yifan[1]; Yan, Huaicheng[1]; Hu, Yunsong[1]; Wang, Li[1]

机构：[1] East China University of Science and Technology, Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education, Shanghai, 200237, China

年份：2024

起止页码：2213

外文期刊名：14th Asian Control Conference, ASCC 2024

收录：EI(收录号：20244117170131)

语种：英文

外文关键词：Closed loop control systems - Lagrange multipliers - Robotic arms - Time varying control systems

摘要：An event-triggered practical predefined-time controller is constructed in this paper for a class of Euler-Lagrange systems under deception attacks. A novel speed function is introduced to reduce the computational complexity, while novel coordinate transformations are used to reduce the controller design complexity. Combining the novel speed function and barrier Lyapunov function, the closed-loop system converges to any desired neighborhood within the preset timeframe with excellent transient performance. Due to the presence of deception attacks, the Nussbaum gain method and fuzzy universal approximation are used to eliminate attack effects, while the event-triggered mechanism based on the relative threshold is introduced to reduce communication resources and the probability of being attacked. Finally, the efficiency of the proposed method is validated through a robotic arm simulation. ? 2024 Asian Control Association.