Attack Resilient Controller Design of Remote Control-Based Soft Crawling Robot Under Partially Known DoS Attacks

Due to the rapid development of communication networks, robotic systems are increasingly using networks for remote control, which has led to cyber security issues. Resilient control is an effective method to ensure system performance under cyber attacks. In this paper, a resilient controller framework is proposed for soft crawling robotic system under Denial-of-Service (DoS) attacks. For the first time, the exponential stability criterion and
$H_{\infty}$
performance of the soft crawler robot under DoS attacks are derived by using the attack instantaneous correlation time-invariant Lyapunov generalization function, while a method for designing the resilient controller is given. Finally, the validity of the proposed theoretical results is verified by using a soft crawling robot as an example.