Synchronization of networked systems in the presence of jamming attacks

Abstract

In this dissertation, the synchronization of networked robotic systems in the presence of jamming attacks is studied. Firstly, it focuses on scenarios where a DoS attack disrupts communication channels between the subsystems. Compared with the linear networked systems, the considered nonlinear Euler-Lagrange systems with asymmetric channels are more complex and have not been well investigated, especially under attack. To achieve the consensus, a novel cooperative control framework is utilized according to the multidimensional small-gain techniques. However, to relax the stability conditions, an adaptive hierarchical control scheme is furtherly designed. The single-integral agent may deal with the jamming attack by employing the quantized sampling data from its neighbors. Jamming attacks will be decoupled for separate analysis, then the synchronization of all subsystems will be achieved ultimately.