Event-triggered robust MPC of nonlinear cyber-physical systems against DoS attacks

This paper proposes an event-triggered robust nonlinear model predictive control (NMPC) framework for cyber-physical systems (CPS) in the presence of denial-of-service (DoS) attacks and additive disturbances. In the framework, a new robustness constraint is introduced to the NMPC optimization problem in order to deal with additive disturbances, and a packet transmission strategy is designed for NMPC such that DoS attacks can be tackled. Then, an event-triggered mechanism, which accommodates DoS attacks occurring in the communication network, is proposed to reduce the communication cost for resource-constrained CPSs. Besides, we prove that the NMPC algorithm is recursively feasible and the closed-loop system is input-to-state practical stable under some sufficient conditions. Simulation examples and comparisons are conducted to show the effectiveness of the proposed NMPC algorithm.