Event-Triggered $\mathcal{H}_{\infty}$ Output Control for Flexible Robot Arm Under Semi-Markov Stochastic Uncertainties and Hybrid Attacks

The event-triggered $\mathcal{H}_{\infty}$ output feedback control for a flexible robot arm system with stochastic uncertainties and hybrid attacks is investigated in this study. Specially, Semi-Markov processes are used to simulate the stochastic uncertainties in state matrices, and the problem of hybrid attacks, such as DoS and data injection attacks, is taken into account in sensors and actuators. To ensure the mean square secure with a $\mathcal{H}_{\infty}$ performance index, sufficient requirements of the flexible robot arm system under event-triggered scheme are derived. Moreover, the event-triggered parameters and the $\mathcal{H}_{\infty}$ output feedback gains are jointly constructed. Finally, the effectiveness of the proposed results in flexible robot arm system is verified by simulation results.