Event‐triggered model predictive control of switched systems with denial‐of‐service attacks

Observer-based model predictive control (MPC) for the discrete-time switched systems suffered by event-triggered mechanism and denial-of-service (DoS) attacks is discussed in this paper. We assume that the switch is slow enough and the attacker's energy is limited. To save network resources, an event-triggered mechanism is designed based on dwell time and triggered error. Under the coupled influence of attack and trigger, a complex mismatch of system mode and controller mode occurs, which brings difficulties to the transformation of MPC optimization problem. To address this problem, a new performance index coefficient is designed by using the increasing/decreasing law of Lyapunov function. On this basis, the transformation of the optimization problem is realized. Then, the controller gain and observer gain for the attack-free case are designed to guarantee the exponential convergence of the closed-loop system. In the presence of attacks, we obtain the upper bound of attack duty cycle, below which the exponential convergence of the system can still be archived. An example is illustrated at last to verify the validity of the main results.