Cooperative control method for multiple wheeled robots under DoS attack

Abstract

The invention discloses a cooperative control method for multiple wheeled robots under DoS attacks. The cooperative control method comprises the following steps: S1, establishing a mathematical model of a plurality of wheeled robot systems; S2, designing a controller for realizing the distributed model predictive control method for resisting the DoS attack; S3, proving the effectiveness of the controller; and S4, cooperatively controlling the plurality of wheeled robots by using the designed controller, and verifying a result. According to the anti-DoS attack distributed model predictive control method designed by the invention, the influence of the DoS attack is modeled into a time-varying communication delay amount, so that the method is converted into a method for researching distributed model predictive control with communication delay; the method not only retains the characteristic that the model prediction control method can process multivariable, constrained and nonlinear problems, but also considers the network communication and control performance, and has important engineering application value in the time that the networked control system is more and more universal nowadays.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to a collaborative control method for multiple wheeled robots under DoS attack. Background technique [0002] The dynamic model of the wheeled robot is a nonlinear differential equation. When the multi-agent system composed of multiple wheeled robots communicates with each other through the network, it forms a networked nonlinear system. Because the network is used for communication, especially when the network is a wireless network, the channel through which each wheeled robot exchanges information with each other will be subject to DoS attacks, resulting in network delays. Its collaborative control requires the design of a control protocol. In the case of DoS attacks , through the control protocol, each wheeled robot interacts with each other and changes its own state, and finally all wheeled robots converge to a stable point, here is the origin. Due to the limitatio...

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Problems solved by technology

[0003] Aiming at the problem of cooperative control of multiple wheeled robots under DoS attacks, some scholars apply traditional IT information security defense measures to solve the security problems of networked systems under DoS attacks, but lack of in-depth understanding of control devices and control bus protocols, some scholars The common security measures of traditional control systems such as fault-tolerant control and fault diagnosis are used to deal with it, but the influence of communication on control is ignored. Therefore, how to start from the essential characteristics of the deep integration of physical and information space, integrate network communication and control theory, and construct A technical solution to ensure multi-level security of physical equipment, information transmission, and control means is an urgent research direction

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