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Switching-like event-triggered tracking control for UAH/UGV systems under external disturbance and DoS attacks
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  • Tao Li,
  • Haoran Zhang,
  • Shihao Pan,
  • Zehui Mao
Tao Li
Nanjing University of Aeronautics and Astronautics College of Automation Engineering

Corresponding Author:[email protected]

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Haoran Zhang
Nanjing University of Aeronautics and Astronautics College of Automation Engineering
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Shihao Pan
Nanjing University of Aeronautics and Astronautics College of Automation Engineering
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Zehui Mao
Nanjing University of Aeronautics and Astronautics College of Automation Engineering
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Abstract

In this paper, by considering the existence of unavailable state, external disturbance, and denial of service (DoS) attacks, an anti-disturbance trajectory tracking controller is proposed for the air-ground system composed of unmanned autonomous helicopter (UAH) and unmanned ground vehicle (UGV). Initially, by combining the advantages of conventional event-triggered scheme (ETS) and memory ETS, a switching-like event-triggered mechanism is put forward, which can cause less data transmissions without reducing control performance, and effectively restrain the DoS attacks. Secondly, by dividing the DoS attacks into active intervals and sleep ones, the concept of acknowledgement character technology (ACK) is presented to determine the suitable type of time intervals. Thirdly, the switching-like dynamic ETS is introduced for the sleep intervals of DoS attacks while the ETS with fixed triggered-threshold is exploited for the active intervals. Fourthly, based on the occurrence of the DoS attacks, a switching-like observer and a normal one are respectively proposed to estimate the UGV state, the UAH state, the reference input of the UGV, and the disturbance of the UAH, which are utilized to design the anti-disturbance tracking controller. Fifthly, an augmented closed-loop system consisting of observation errors and tracking error is established and its stability is analyzed by using Lyapunov stability theory. Then, a sufficient condition on co-designing the parameters of switching-like ETS, observers, and tracking controller is presented in terms of linear matrix inequalities (LMI). Finally, the validity and superiority of the proposed control scheme are verified by resorting to simulations and comparisons.
15 Apr 2023Submitted to International Journal of Robust and Nonlinear Control
15 Apr 2023Submission Checks Completed
15 Apr 2023Assigned to Editor
15 Apr 2023Review(s) Completed, Editorial Evaluation Pending
24 Apr 2023Reviewer(s) Assigned
25 Jun 2023Editorial Decision: Revise Minor
01 Aug 20231st Revision Received
04 Aug 2023Submission Checks Completed
04 Aug 2023Assigned to Editor
04 Aug 2023Review(s) Completed, Editorial Evaluation Pending
29 Aug 2023Reviewer(s) Assigned
22 Nov 2023Editorial Decision: Revise Minor