Resilient Prediction-Based and Event-Triggered Control for CPSs Under DoS Attacks

This article studies the input-to-state stability (ISS) problem of cyber–physical systems (CPSs) subject to unknown disturbance and malicious denial-of-service (DoS) attacks. A resilient event-triggering mechanism is first proposed to reduce unnecessary network resource consumption. Then, a novel predictive control protocol is put forward to skillfully compensate for lost signals of CPSs during the case of DoS attacks. It is shown that the resulting closed-loop CPSs can achieve ISS under the proposed control update protocol. One of the key advantages of our proposed control protocol is that the missing information can be compensated, and the CPSs thus, can tolerate more unfavorable DoS attacks. Moreover, an intuitive minimum interevent time is provided so as to exclude the Zeno execution of control signals. Finally, a simulation example on unmanned ground vehicle is presented to verify the effectiveness of the proposed control protocols.