反推
控制理论(社会学)
控制器(灌溉)
服务拒绝攻击
移动机器人
计算机科学
理论(学习稳定性)
跟踪(教育)
有界函数
机器人
估计员
自适应控制
控制工程
控制(管理)
工程类
人工智能
数学
互联网
心理学
数学分析
教育学
统计
机器学习
万维网
农学
生物
作者
Zhen Han,Jiang Long,Wei Wang,Lei Wang
标识
DOI:10.1016/j.isatra.2023.06.022
摘要
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.
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