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.
LiangXYaoZDengW, et al. Adaptive neural network finite-time tracking control for uncertain hydraulic manipulators. IEEE/ASME Trans Mechatron2025; 30(1): 645–656.
2.
XiaYLiuYSunW. A new fault tolerant strategy using adaptive time delay estimation for robot manipulators with actuator faults. Nonlinear Dyn2025; 113(8): 8769–8781.
3.
HuMYangXDongH, et al. Neural-network-based adaptive control for space manipulator system with actuator faults: A fully actuated system approach. Adv Space Res2025; 76(4): 2150–2163.
4.
WangSWangRMaB, et al. Robust fault-tolerant fractional order sliding mode boundary control for a soft continuum manipulator. Appl Math Model2026; 151: 116463.
5.
LiuWJiJLiL, et al. Angle tracking consensus and vibration control of multiple manipulator-string systems with actuator fault over directed graph. J Vib Control2025. https://doi.org/10.1177/10775463251338535
6.
ZhangRLiuLParkJH, et al. Secure consensus for multi-agent systems with euler-lagrange dynamics and multiple DoS attacks. IEEE Trans Intell Transp Syst2025; 26(7): 10008–10018.
7.
XueHWangY. Intermittent Predefined-Time control of unmanned vehicles. IET Control Theory Appl2025; 19: e70079.
8.
XuBLiYXHouZ. Fixed-time fuzzy resilient consensus tracking of nonlinear MASs under DoS attacks and actuator faults. IEEE Trans Autom Sci Eng2025; 22: 2923–2934.
9.
YaoXLiXLiuZ, et al. Asymptotical fault-tolerant time-varying tracking control of networked mobile flexible manipulators under prescribed performances and DoS attacks. IEEE Trans Automat Contr2026; 71: 20–35. https://doi.org/10.1109/TAC.2025.3583101
10.
ChenSHeWZhaoZ, et al. Adaptive control of a flexible manipulator with unknown hysteresis and intermittent actuator faults. IEEE/CAA J Automat Sin2025; 12(1): 148–158.
11.
YangPZhangSYuX, et al. Reinforcement-learning-based finite time fault tolerant control for a manipulator with actuator faults. IEEE Trans Cybern2025; 55(6): 2621–2632.
12.
XiaYYuanYSunW. Finite-time adaptive fault-tolerant control for robot manipulators with guaranteed transient performance. IEEE Trans Ind Inform2025; 21(4): 3336–3345.
13.
ChenMYuXJiaoX, et al. Command filter-based adaptive fault-tolerant fast finite-time control of manipulator systems with actuator faults. Int J Fuzzy Syst2025; 27(2): 421–432.
14.
SerajgahSAAhmadiAA. Prescribed finite-time adaptive fuzzy-based fault-tolerant control of robotic manipulators using dynamic scaling factor. J Supercomput2025; 81(6): 1–23.
15.
MengXZhangGHanB, et al. Multiport event-triggered finite-time PID control for underactuated unmanned surface vessels under cyber attacks. Proc Inst Mech Eng I J Syst Control Eng2024. https://doi.org/10.1177/09596518241273856
16.
RenXGuoQDaiX, et al. Adaptive fixed-time fault-tolerant control for robotic manipulators with actuator loss of effectiveness faults and unknown nonlinearities. Int J Robust Nonlinear Control2025; 35(17): 7337–7354.
17.
ShenGHuangPXuJ, et al. Dynamic event-triggered fixed-time prescribed performance control for uncertain robot manipulator with actuator faults. IEEE/ASME Trans Mechatron2025; 30: 6009–6017. https://doi.org/10.1109/TMECH.2025.3547909
18.
WangZZhangSJiangY, et al. Practical predefined-time sliding-mode adaptive resilient control for PMSM Cyber-Physical Systems. Sensors2025; 25(23): 7380.
19.
TanJZhangFHuangY, et al. Resilient distributed predefined time secondary control for cyber-physical microgrids. IET Renew Power Gener2025; 19(1): e70055.
20.
LinBLiMLiuY, et al. Resilient predefined-time flocking of networked agent systems against false data injection attacks. Electronics2025; 14(11): 2282.
21.
LiuJXuZXueL, et al. Practical fixed-time synchronization of multilayer networks via intermittent event-triggered control. IEEE Trans Syst Man Cybern Syst2024; 54(5): 2626–2637.
22.
ZhangZXueLWuY, et al. Aperiodically intermittent event-triggered control for practical fixed-time consensus under denial-of-service attack. Nonlinear Dyn2024; 112(23): 21117–21134.
23.
LiuJLiuJWuY, et al. Aperiodically intermittent event-based fixed-time consensus tracking and its applications. IEEE Trans Autom Sci Eng2024; 21(4): 5790–5801.
24.
AbubakarANYahayaJUMa’arufM, et al. Event-triggered based control of robotic arm under denial of service. In: 2024 21st International multi-conference on systems, signals & devices (SSD), 2024, pp.141–147. IEEE.
25.
FanYYangCZhanH, et al. Neuro-adaptive-based predefined-time smooth control for manipulators with disturbance. IEEE Trans Syst Man Cybern Syst2024; 54(8): 4605–4616.
26.
LiuHFengZTianX, et al. Adaptive predefined-time specific performance control for underactuated multi-AUVs: an edge computing-based optimized RL method. Ocean Eng2025; 318: 120048.
27.
HuangBZhangFSongM, et al. Event-based predefined-time deployment control for space triangular tethered satellite system with input quantization. IEEE Trans Aerosp Electron Syst2023; 59(5): 4936–4946.
28.
HuBGuanZ-HFuM. Distributed event-driven control for finite-time consensus. Automatica2019; 103: 88–95.
29.
ZhangC. Barrier function-based adaptive sliding mode event-triggered anti-disturbance control of autonomous surface vessels. Ocean Eng2024; 294: 116754.
30.
LiZLeiK. Robust fixed-time fault-tolerant control for USV with prescribed tracking performance. J Mar Sci Eng2024; 12(5): 799.
