Robust Safety Critical Control of Uncertain Nonlinear Systems with DoS Attacks

This paper considers the robust safety critical control problem of an uncertain second-order nonlinear system subject to denial-of-service (DoS) attacks on the sensor-controller and controller-actuator channels. In order to handle the safety constraint described by a general nonlinear function, we first propose a governor function, regarded as a generalized barrier function, with additional properties. Then a safety critical control is designed to guarantee the safety and stability of the closedloop system. Finally, a combined time- and event-triggered sampling mechanism is further introduced to detect the randomly occurring DoS, and the latest sampled information is used to update the safety critical control once the signal can be received through the sensor-controller channel. Our sampled-data safety critical control strategy can reduce to solve the safety critical control and the security control problems of nonlinear systems with parametric uncertainty