Finite-Time Switching Resilient Control for Networked Teleoperation System With Time-Varying Delays and Random DoS Attacks

This paper presents a finite-time switching resilient controller for the networked teleoperation system control under time-varying delays and denial-of-service (DoS) attacks. The proposed controller comprises a proportional-differential plus damping (PD+d-like) controller and a switching resilient compensator. The first component, a PD+d-like controller, uses a continuous non-smooth function on the state errors and velocity signals to guarantee the global finite-time convergence. The latter part of the proposed controller, a switching resilient compensator, combines the zero-order holder (ZOH) with the continuous-time proportional-derivative (PD) regulator. This proposed controller could maintain global finite-time stability (GFTS) when time-varying delays and random DoS attacks simultaneously occur. Furthermore, we obtain the system stability criterion and establish relationships between controller parameters and maximum stability delay using Linear Matrix Inequality (LMI) technology for parameter tuning guidance. Both simulation and experimental results validate the resiliency of the proposed controller to time-varying delays and random DoS attacks.