Extended State Observer-Based Model-Free Adaptive Fault-Tolerant Constrained Control for Cyber-Physical Systems with DoS Attacks

This paper investigates the model-free adaptive fault-tolerant constrained control problem of cyber-physical systems (CPSs) under denial-of-service (DoS) attacks. Firstly, the compact form dynamic linearization (CFDL) technique is employed to create an equivalent data model for the nonlinear system. Secondly, the discrete-time extended state observer (DESO) is crafted to facilitate the estimation of unknown sensor fault signals, mitigating the negative impact on the system. Simultaneously, to reduce the adverse effects of Denial of Service (DoS) attacks on the communication channel, effective attack compensation mechanism is established. Furthermore, the anti-windup compensator is integrated to tackle the input constraint problem arising from actuator saturation. Finally, the effectiveness of the proposed scheme is showcased through simulation example.