Adaptive neural network event-triggered secure formation control of nonholonomic mobile robots subject to deception attacks  

作　　者：Kai Wang Wei Wu Shaocheng Tong 

机构地区：[1]College of Electrical Engineering,Liaoning University of Technology,Jinzhou,121001,China [2]College of Science,Liaoning University of Technology,Jinzhou,121001,China

出　　处：《Journal of Automation and Intelligence》2024年第4期260-268,共9页自动化与人工智能(英文)

基　　金：supported by the National Natural Science Foundation of China under 62173172.

摘　　要：This paper investigates the adaptive neural network(NN)event-triggered secure formation control problem for nonholonomic mobile robots(NMRs)subject to deception attacks.The NNs are employed to approximate unknown nonlinear functions in robotic dynamics.Since the transmission channel from sensor-to-controller is vulnerable to deception attacks,a NN estimation technique is introduced to estimate the unknown deception attacks.In order to alleviate the amount of communication between controller-and-actuator,an event-triggered mechanism with relative threshold strategy is established.Then,an adaptive NN event-triggered secure formation control method is proposed.It is proved that all closed-loop signals of controlled systems are bounded and the formation tracking errors converge a neighborhood of the origin in the presence of deception attacks.The comparative simulations illustrate the effectiveness of the proposed secure formation control scheme.

关 键 词：Nonholonomic mobile robots Deception attacks Neural network(NN)estimation technique Secure formation control Event-triggered mechanism 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]