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| Periodic event-triggered secure consensus for networked mechanical systems under Denial-of-Service attacks |
| ShiqiZheng1,ZhipengLi1,ChaoZhai1,PengShi2,3 |
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| (1 School of Automation, China University of Geosciences, Wuhan 430074, Hubei, China;;2 School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, SA 5005, Australia;
3 School of Electronic, Electrical Engineering and Physics, Fujian University of Technology, Fuzhou 350100, Fujian, China.) |
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| 摘要: |
| This paper concentrates on the secure consensus problem of networked mechanical/Euler–Lagrange systems. First, a new
periodic event-triggered (PET) secure distributed observer is proposed to estimate the leader information. The proposed
distributed observer only relies on the PET data from its neighbors, which can significantly reduce the communication and
computational burden. More importantly, it is secure in the sense that it can work normally regardless of the Denial-of-Service
(DoS) attacks. Second, based on the proposed distributed observer, an adaptive fuzzy control law is proposed for each Euler–
Lagrange system. A PET mechanism is integrated into the controller, which can reduce the control update. This is helpful
for both energy saving and fault tolerance of actuators. Moreover, the PET mechanism naturally makes the controller easy
to be implemented in digital platform. The property of fuzzy logic systems and Gronwall inequality are skillfully utilized to
show the stability of the closed-loop system. Finally, the proposed control scheme is verified on real Euler–Lagrange systems,
which contain a robot manipulator and several servo motors. |
| 关键词: Output regulation · Mechanical/Euler–Lagrange systems· Periodic event-triggered mechanism · Denial-of-Service attacks |
| DOI：https://doi.org/10.1007/s11768-023-00182-7 |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (No. 52375520) and Hunan Provincial Natural Science Foundation Regional Joint Fund (2023JJ50037). |
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| Periodic event-triggered secure consensus for networked mechanical systems under Denial-of-Service attacks |
| Shiqi Zheng1,Zhipeng Li1,Chao Zhai1,Peng Shi2,3 |
| (1 School of Automation, China University of Geosciences, Wuhan 430074, Hubei, China;;2 School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, SA 5005, Australia;
3 School of Electronic, Electrical Engineering and Physics, Fujian University of Technology, Fuzhou 350100, Fujian, China.) |
| Abstract: |
| This paper concentrates on the secure consensus problem of networked mechanical/Euler–Lagrange systems. First, a new
periodic event-triggered (PET) secure distributed observer is proposed to estimate the leader information. The proposed
distributed observer only relies on the PET data from its neighbors, which can significantly reduce the communication and
computational burden. More importantly, it is secure in the sense that it can work normally regardless of the Denial-of-Service
(DoS) attacks. Second, based on the proposed distributed observer, an adaptive fuzzy control law is proposed for each Euler–
Lagrange system. A PET mechanism is integrated into the controller, which can reduce the control update. This is helpful
for both energy saving and fault tolerance of actuators. Moreover, the PET mechanism naturally makes the controller easy
to be implemented in digital platform. The property of fuzzy logic systems and Gronwall inequality are skillfully utilized to
show the stability of the closed-loop system. Finally, the proposed control scheme is verified on real Euler–Lagrange systems,
which contain a robot manipulator and several servo motors. |
| Key words: Output regulation · Mechanical/Euler–Lagrange systems· Periodic event-triggered mechanism · Denial-of-Service attacks |
