Reference Tracking MPC for Cyber-Physical Systems Under Denial-of-Service Attacks: An Omnidirectional Robot Application

Abstract

This article presents a novel model predictive control (MPC) framework with an integrated disturbance observer for cyber-physical systems (CPSs) under denial-of-service (DoS) attacks. Uniquely incorporating a memory module, our MPC approach is tailored to maintain stability and security in CPS during DoS attacks, which typically disrupt communication and degrade performance. Our method stands out by addressing time-varying system uncertainties through the disturbance observer, enhancing robustness under these attack conditions. The effectiveness of our approach is validated through numerical simulations, hardware-in-the-loop experiments, and comparative analyses using an omnidirectional robot, highlighting its practical applicability and advancement over existing methods.