Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks

Bong-Seok Park and Sung-Jin Yoo
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Bong-Seok Park: Division of Electrical, Electronic, and Control Engineering, Institute of IT Convergence Technology, Kongju National University, Cheonan 31080, Korea
Sung-Jin Yoo: School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea

Mathematics, 2021, vol. 9, issue 18, 1-16

Abstract: This paper addresses an adaptive secure control problem for the leader-follower formation of nonholonomic mobile robots in the presence of uncertainty and deception attacks. It is assumed that the false data of the leader robot’s information attacked by the adversary is transmitted to the follower robot through the network, and the dynamic model of each robot has uncertainty, such as unknown nonlinearity and external disturbances. A robust, adaptive secure control strategy compensating for false data and uncertainty is developed to accomplish the desired formation of nonholonomic mobile robots. An adaptive compensation mechanism is derived to remove the effects of time-varying attack signals and system uncertainties in the proposed control scheme. Although unknown deception attacks are injected to the leader’s velocities and the model nonlinearities of robots are unknown, the boundedness and convergence of formation tracking errors of the proposed adaptive control system are analyzed in the Lyapunov sense. The validity of the proposed scheme is verified via simulation results.

Keywords: secure control; corrupted leader signals; deception attack; leader-follower formation; nonholonomic mobile robot; neural network (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
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