Robust control of mobile robots based on H_∞ under DoS attack

Mobile robot systems are increasingly being integrated into various scenarios. However, connecting these systems to networks exposes them to the risk of cyber-attacks, potentially leading to functional failures and system destabilization. This paper focuses on the stability of mobile robot systems under denial-of-service (DoS) attacks and proposes a robust control strategy based on H_∞ control. In the strategy, the impact of DoS attacks on the system is first modeled as random packet loss with a Bernoulli distribution. When the mobile robot system is attacked, robust control is achieved by using feedback compensation based on a state observer. Sufficient conditions for exponential mean-square stability and H_∞ control of the closed-loop system are derived using Lyapunov stability theory. n order to acquire the observer and controller gain matrices, which allow for robust system control and anti-interference effects, these criteria are used to solve linear matrix inequality constraints. Finally, through simulation experiments, it is demonstrated that the proposed strategy effectively mitigates the impact of DoS attacks on the system, ensuring the stability of the system.