Finite-Horizon H∞ Control for Mobile Robots under Hybrid Cyber Attacks: An Accumulation-Based Event-Triggered Mechanism

This paper investigates the finite-horizon H∞ control problem for mobile robot system under hybrid cyber attacks, where signal transmissions from sensors to the controller are scheduled using an accumulation-based event-triggered mechanism (AETM) to reduce communication load. Compared with traditional event-triggered strategies, the AETM exhibits enhanced robustness against burst signals and owns a lower communication frequency. A more general cyber attack scenario is considered, in which randomly occurring denial-of-service (DoS) attacks and deception attacks coexist, forming a hybrid attack environment. The objective is to develop an AETM-based control strategy that ensures the mobile robot system satisfies the desired finite-horizon H∞ performance under such hybrid attacks. Sufficient conditions are first derived using the stochastic analysis technique to guarantee that the mobile robot system meets the prescribed control performance under the proposed strategy. Then, by recursively solving a sequence of matrix inequalities, a time-varying controller gain is computed in real time. Finally, the effectiveness of the proposed controller is demonstrated through numerical simulations based on the kinematic model of a mobile robot.