Resilient Finite-Time Consensus Tracking for Nonholonomic High-Order Chained-Form Systems Against DoS Attacks
研究了高阶非完整链式系统在拒绝服务攻击下的有限时间一致性跟踪问题，提出了一种结合攻击检测与通信恢复的分布式观测器及快速反步控制算法，并用轮式移动机器人验证了效果。
This article studies the resilient finite-time consensus tracking problem for high-order nonholonomic chained-form systems against denial-of-service (DoS) attacks. The first step is to develop a novel secure distributed observer for each follower in which the tangent hyperbolic function is used to accelerate the convergence speed of the observer by inducing a high-gain effect. The paralyzed-connectivity graphs resulting from DoS attacks are repaired to the initially connected graphs by integrating both acknowledgment-based attack detection techniques and the communication recovery process. In addition, it is demonstrated that the duration of DoS attacks directly affects the convergence time of the proposed scheme. Then, a fast finite-time backstepping control (FFTBC) algorithm is established for each follower to track the estimated leader's information, ensuring fast convergence performance regardless of whether the follower states are near or far from the equilibrium point. An approximation-based approach is also presented for reducing the conservatism of the upper estimate of the settling time. An evaluation of the proposed control algorithm under DoS attacks is conducted using a group of wheeled mobile robots.