Adaptive control of bilateral teleoperation systems under denial-of-service attacks

Abstract This paper investigates resilient consensus control for teleoperation systems under denial-of-service (DoS) attacks. We design resilient controllers with auxiliary systems based on sampled positions of both master and slave robots, enhancing robustness during DoS attacks. Additionally, we establish stability conditions on DoS attack duration and frequency by applying multivariate small-gain methods to ensure closed-loop stability without the need to solve linear matrix inequalities. Finally, the effectiveness of the controllers is validated through the simulation results, demonstrating that the master-slave synchronization is achieved.