Distributed Adaptive Formation Tracking Control of Mobile Robots with Event-Triggered Communication and Denial-of-Service Attacks

This article focuses on distributed adaptive formation tracking control of mobile robots under event-triggered communication (ETC) and denial-of-service (DoS) attacks. Dynamic level of model for mobile robots and directed-communication graph condition are considered. To handle the constraint that only part of the robots can access full knowledge of the desired trajectories, distributed event-triggered based estimators are designed. Then, an adaptive tracking control scheme is designed for each robot by utilizing backstepping technique. By analyzing the effects of DoS attacks on ETC, a stability condition constraining the active and suspended durations for each attack period is provided, based on which all closed-loop signals are ensured to be locally uniformly bounded. Moreover, Zeno behaviors are excluded. Experimental results are presented to validate theoretical findings.