Adaptive sliding mode security control of wheeled mobile manipulators with Markov switching joints against adversarial attacks

This paper deals with the security control problem of a wheeled mobile manipulator that is subjected to various challenges, such as Markov switching parameters, actuator false data injection attacks, un-modeled nonlinearities, and deficient transition rates. As actuator attacks are often not fully known or predictable, an adaptive scheme is proposed to dynamically eliminate their negative effects. To achieve an ideal sliding motion, a smooth integral hyperplane is introduced. Since the transition rates of the joints may vary, it is important to design a controller that can maintain the expected sliding motion under different mode information. Additionally, stochastic stability analysis is conducted for the sliding motion considering different types of transition rates. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.