Attack-resistant H ∞ control over relay networks with self-interferences: application to mobile robot tracking

In this paper, the observer-based H∞ control issue is investigated for a class of discrete-time cyber-physical systems over full-duplex relay (FDR) networks, where self-interferences (SIs) and denial-of-service (DoS) attacks are both taken into consideration. A FDR is deployed between the sensor and controller aimed at extending the communication range. In this relay-aided network, the FDR receives data from the sensor and then forwards it to the controller simultaneously, and the SI induced by these concurrent transmission behaviours is incorporated into the analytical framework. Additionally, the data transmission over the relay-to-controller channel is exposed to DoS attacks, which are modelled by a Bernoulli-distributed sequence. The objective is to devise an observer-based controller to satisfy the following requirements: (1) stability of the closed-loop system; (2) H∞ performance against external disturbances; and (3) resilience with respect to SIs and DoS attacks. Finally, an extensive simulation on the tracking problem of mobile robots is provided to demonstrate the effectiveness of the proposed control algorithm. Specifically, the simulation results show that the proposed controller achieves a minimum H∞ performance index of 0.0304 and exhibits lower tracking errors compared to the conventional baseline controller without anti-DoS compensation, thereby validating its robustness against DoS attacks.