Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Chapter (peer-reviewed) › peer-review
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/ISSN › Chapter (peer-reviewed) › peer-review
}
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 -