The stability of bilateral teleoperating system with time-delay and uncertain model parameters under denial of service (DoS) attack is studied. First, based on position error structures, event-triggered controllers can be designed, and then the unknown model parameters of manipulators are estimated by using the adaptive law. The stability of bilateral teleoperating system is proved by Lyapunov function theory, and the event-triggered controller does not have Zeno behavior. Numerical simulations are carried out to demonstrate the effectiveness of the proposed adaptive event-triggered controller on a bilateral teleoperation system under DOS attacks.
ZHENG Kaizhong, FAN Chunxia
. Control of Uncertain Bilateral Teleoperation System under DOS Attack[J]. Journal of Applied Sciences, 2022
, 40(2)
: 316
-327
.
DOI: 10.3969/j.issn.0255-8297.2022.02.013
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