Event-Based Wireless Tracking Control for a Wheeled Mobile Robot Against Reactive Jamming Attacks

In this article, an event-based defense strategy is studied for a wireless remote tracking control system of a wheeled mobile robot suffering from reactive jamming attack. First, utility functions of both the reactive jammer and control center are established based on the signal to interference plus noise ratio and residual energies. Then, interactions between the reactive jammer and control center are described through a Stackelberg game scheme, for which the existence and uniqueness of the game equilibrium solution are guaranteed. To defend this type of attack, an event-driven communication scheme is proposed to save transmission energies at the control center. By making full use of the saved energies, a retransmission mechanism is employed to improve the reliability of the communication. Meanwhile, the unavailable data are estimated for both the robot and control center by proposing a model-based estimation method. With the combination of the event-driven communication scheme, retransmission mechanism, and estimation method, an event-based defense strategy is established. It can be shown that the states of tracking error system under the reactive jamming attacks are guaranteed to be stochastically ultimately bounded (SUB). Finally, the efficiency of the proposed scheme is verified by simulation results.