Event-triggered model-free adaptive control for unknown multiple input and multiple output nonlinear system under denial of service attacks

The event-triggered model-free adaptive control problem for a class of multiple input and multiple output (MIMO) nonlinear system under denial of service (DoS) attacks is investigated in this paper. To economize the limited bandwidth resources, an event-triggered mechanism is designed between the sensor and controller. First, intermittent denial of service attack is modeled, which is described as limited by frequency and duration, without more specific assumptions about the structure of attacks strategies. Then, with the help of the dynamic linearization method, a novel event-triggered model-free adaptive control algorithm is designed. The predictive output increments in the algorithm are used to compensate for the influence of DoS attacks on the system. Subsequently, the stability of the system is analyzed by using the Lyapunov method to determine the convergence of the tracking error. Finally, two simulation examples illustrate the validity of the design.