DOS攻击下不确定双边遥操作系统的控制

研究了存在定常时延和模型参数不确定的双边遥操作系统在受到拒绝服务攻击（denial of service，DOS）时的稳定性问题。利用位置误差结构，设计了基于事件触发的控制器，并利用自适应律估计机械臂模型中的未知参数。通过Lyapunov函数理论证明了双边遥操作系统的稳定性，并证明了基于事件触发的控制器不存在Zeno行为。通过数值仿真验证了基于事件触发的自适应控制器能够使遥操作系统在DOS攻击下保持稳定。

Control of Uncertain Bilateral Teleoperation System under DOS Attack

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.