Resilient event-triggered fault-tolerant optimization for Euler-Lagrange plants with intermittent communication and asynchronous DoS attacks

This paper investigates the distributed optimization problem of networked Euler-Lagrange (EL) systems with actuator faults and unknown model parameters. In order to solve this issue, some event-triggered fault-tolerant (ETFT) optimal coordination algorithms with the mechanism of intermittent communication and intermittent controller update are designed for the first time to compensate for the impact of physical faults on the system, and reduce communication costs and control resource consumption. For practical applications, it is difficult for the system to have a secure environment if there exist malicious attacks blocking network channels among agents. Therefore, the resilient ETFT optimal coordination with intermittent communication subject to asynchronous denial-of-service (DoS) attacks is considered. Especially, auxiliary systems with adaptive gains are introduced in the algorithms due to the unavailability of the EL model parameters, which also enable virtual data exchange between agents and protect actual state information. Note that the algorithms are fully distributed as the global topology information is not required. Finally, the feasibility of the proposed algorithms is verified through numerical simulation of examples.