Resilient fault-attack-tolerant aperiodically intermittent predefined-time control of manipulators

How to achieve predefined-time stability in the presence of both actuator faults and Denial-of-Service attacks presents a significant challenge. Herein, an aperiodic intermittent predefined-time tracking control method is proposed to deal with threat scenarios in the presence of actuator faults. An intermittent predefined-time stability criterion is introduced. The control law is alternated among three operational modes: the working interval, resting interval, and holding interval. During an attack on the actuator channel, the input is temporarily set to zero. Conversely, if an attack targets the sensor channel, the control input retains the value from the last successful transmission. The proposed method is validated through trajectory tracking of second-order systems, such as manipulators. The results demonstrate that this approach reduces reliance on communication bandwidth and decreasing the risk of exploitation from potential attacks.