Dynamic Quantized Tracking Control for Nonlinear Strict-Feedback Systems Under DoS Attacks and Exogenous Disturbances

• Published in: IEEE transactions on industrial informatics Vol. 21; no. 6; pp. 4511 - 4521
• Main Authors: Zhao, Can, An, Liwei, Que, Jiaxiong, Wen, Xinluan, Ao, Yucai
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.06.2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Backstepping; Backstepping control; Closed loops; Coding; Control systems; Control systems design; Data transmission; Denial of service attacks; denial-of-service (DoS) attacks; Denial-of-service attack; Disturbances; Encoding; Event detection; Feedback; Feedback control systems; Informatics; Information science; limited data rate; Nonlinear control; Nonlinear dynamical systems; nonlinear strict-feedback systems; Nonlinear systems; Packet loss; Quantization (signal); Tracking control; Tracking errors; Wireless networks
• ISSN: 1551-3203; 1941-0050
• DOI: 10.1109/TII.2025.3541716

This article studies the problem of quantized backstepping tracking control for nonlinear strict-feedback systems subject to denial-of-service (DoS) attacks, data rate constraints, and exogenous disturbances. Due to limited network resources, only finite bits of data can be transmitted per time unit. A constant bit encoding-decoding scheme is first designed to guarantee limited data transmissions and be robust to DoS attacks and exogenous disturbances. To reduce the data rate, a variable bit encoding-decoding scheme is further designed that adaptively adjusts the data rate according to the actual frequency and duration of DoS attacks. High-order filters are designed to avoid repeatedly differentiating discontinuous state variables caused by discrete network behaviors in the design of backstepping controller. It is shown that all the closed-loop signals are globally uniformly bounded and the tracking error converges to a neighborhood of the origin. The effectiveness of the proposed scheme is illustrated by the experiment of the wheeled mobile robot.