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Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNChapter (peer-reviewed)peer-review

Forthcoming

Standard

Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer. / Saeedi, Mobin; Zarei, Jafar; Seif, Mehrdad et al.

Mobile Robots: Motion Control and Path Planning. Cham : Springer Nature, 2022. (Studies in Computational Intelligence).

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNChapter (peer-reviewed)peer-review

Harvard

Saeedi, M, Zarei, J, Seif, M & Montazeri, A 2022, Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer. in Mobile Robots: Motion Control and Path Planning. Studies in Computational Intelligence, Springer Nature, Cham.

APA

Saeedi, M., Zarei, J., Seif, M., & Montazeri, A. (Accepted/In press). Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer. In Mobile Robots: Motion Control and Path Planning (Studies in Computational Intelligence). Springer Nature.

Vancouver

Saeedi M, Zarei J, Seif M, Montazeri A. Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer. In Mobile Robots: Motion Control and Path Planning. Cham: Springer Nature. 2022. (Studies in Computational Intelligence).

Author

Saeedi, Mobin ; Zarei, Jafar ; Seif, Mehrdad et al. / Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer. Mobile Robots: Motion Control and Path Planning. Cham : Springer Nature, 2022. (Studies in Computational Intelligence).

Bibtex

@inbook{67eee5c1ef8f42a9b06d73c9af0418d2,
title = "Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer",
abstract = "Nowadays, mobile robots are becoming an increasingly significant part of daily human life. Humanoid robots, wheeled mobile robots, aerial vehicles, mobile manipulators, and more are examples of mobile robots. As opposed to other robots, they are capable of moving autonomously, with sufficient intelligence to make decisions in response to the perceptions they receive from their environment. In today{\textquoteright}s world, cooperative tasks and the ability to control robots via networks make them a component of cyber-physical systems (CPSs). In this study, mobile robots that are acting as a part of CPSs are examined. Data-network burden, signal quantizers, cyber security, delayed transition, and robust performance are some of the challenges they face. A total of three sections are then devoted to addressing these issues in detail. As a first step, the governing equation for mobile robots is explained, and then their robust and resilient behavior of them is examined by establishing the event-based adaptive optimal fast terminal sliding mode control (AOFTSMC) approach for nonlinear uncertain dynamic systems that are subjected to denial-of service (DoS) cyber attacks. In this case, it is assumed that the conveyed signal is being corrupted randomly by an attacker. In this situation, it is essential to design the closed-loop controller parameters in such a way that the performance can be maintained under malicious attacks while the communication resources are preserved. Due to the unrealistic nature of delayed-free communication, the stability analysis is conducted for a general form of uncertain nonlinear delayed input dynamic systems. The quantization effect on the closed-loop control system is then analyzed in conjunction with robust behavior and event-based data transmission. A novel criterion is established to adjust dynamic quantizers{\textquoteright} parameters according to the variation of event-triggering error, enabling the quantizer to be more accurate and facilitating implementation procedures. Finally, simulation results validate the presented methodology. ",
keywords = "Mobile robots, cyber-physical system (CPS), event-triggered methodology, Terminal SMC, DoS cyber attack, dynamic quantizer",
author = "Mobin Saeedi and Jafar Zarei and Mehrdad Seif and Allahyar Montazeri",
year = "2022",
language = "English",
series = "Studies in Computational Intelligence",
publisher = "Springer Nature",
booktitle = "Mobile Robots",

}

RIS

TY - CHAP

T1 - Event-based Robust Control Techniques for Wheel-Based Robots Under Cyber-attack and Dynamic Quantizer

AU - Saeedi, Mobin

AU - Zarei, Jafar

AU - Seif, Mehrdad

AU - Montazeri, Allahyar

PY - 2022

Y1 - 2022

N2 - Nowadays, mobile robots are becoming an increasingly significant part of daily human life. Humanoid robots, wheeled mobile robots, aerial vehicles, mobile manipulators, and more are examples of mobile robots. As opposed to other robots, they are capable of moving autonomously, with sufficient intelligence to make decisions in response to the perceptions they receive from their environment. In today’s world, cooperative tasks and the ability to control robots via networks make them a component of cyber-physical systems (CPSs). In this study, mobile robots that are acting as a part of CPSs are examined. Data-network burden, signal quantizers, cyber security, delayed transition, and robust performance are some of the challenges they face. A total of three sections are then devoted to addressing these issues in detail. As a first step, the governing equation for mobile robots is explained, and then their robust and resilient behavior of them is examined by establishing the event-based adaptive optimal fast terminal sliding mode control (AOFTSMC) approach for nonlinear uncertain dynamic systems that are subjected to denial-of service (DoS) cyber attacks. In this case, it is assumed that the conveyed signal is being corrupted randomly by an attacker. In this situation, it is essential to design the closed-loop controller parameters in such a way that the performance can be maintained under malicious attacks while the communication resources are preserved. Due to the unrealistic nature of delayed-free communication, the stability analysis is conducted for a general form of uncertain nonlinear delayed input dynamic systems. The quantization effect on the closed-loop control system is then analyzed in conjunction with robust behavior and event-based data transmission. A novel criterion is established to adjust dynamic quantizers’ parameters according to the variation of event-triggering error, enabling the quantizer to be more accurate and facilitating implementation procedures. Finally, simulation results validate the presented methodology.

AB - Nowadays, mobile robots are becoming an increasingly significant part of daily human life. Humanoid robots, wheeled mobile robots, aerial vehicles, mobile manipulators, and more are examples of mobile robots. As opposed to other robots, they are capable of moving autonomously, with sufficient intelligence to make decisions in response to the perceptions they receive from their environment. In today’s world, cooperative tasks and the ability to control robots via networks make them a component of cyber-physical systems (CPSs). In this study, mobile robots that are acting as a part of CPSs are examined. Data-network burden, signal quantizers, cyber security, delayed transition, and robust performance are some of the challenges they face. A total of three sections are then devoted to addressing these issues in detail. As a first step, the governing equation for mobile robots is explained, and then their robust and resilient behavior of them is examined by establishing the event-based adaptive optimal fast terminal sliding mode control (AOFTSMC) approach for nonlinear uncertain dynamic systems that are subjected to denial-of service (DoS) cyber attacks. In this case, it is assumed that the conveyed signal is being corrupted randomly by an attacker. In this situation, it is essential to design the closed-loop controller parameters in such a way that the performance can be maintained under malicious attacks while the communication resources are preserved. Due to the unrealistic nature of delayed-free communication, the stability analysis is conducted for a general form of uncertain nonlinear delayed input dynamic systems. The quantization effect on the closed-loop control system is then analyzed in conjunction with robust behavior and event-based data transmission. A novel criterion is established to adjust dynamic quantizers’ parameters according to the variation of event-triggering error, enabling the quantizer to be more accurate and facilitating implementation procedures. Finally, simulation results validate the presented methodology.

KW - Mobile robots

KW - cyber-physical system (CPS)

KW - event-triggered methodology

KW - Terminal SMC

KW - DoS cyber attack

KW - dynamic quantizer

M3 - Chapter (peer-reviewed)

T3 - Studies in Computational Intelligence

BT - Mobile Robots

PB - Springer Nature

CY - Cham

ER -