Abstract
The adaptive control of bilateral teleoperation system under denial of service (DoS) attacks is studied in this letter. The model of bilateral teleoperation system under DoS attacks is presented. The adaptive controllers are designed to deal with the influence of data missing caused by packet dropouts and DoS attacks, Two Bernoulli distributed variables are introduced to describe the system dynamic for the case that both packet dropouts and DoS attacks are involved in the communication channels. The globally asymptotically stability criterion is proposed by using Lyapunov functional methods, which implies the dynamics of the Master and the Slave are globally asymptotically synchronized. A numerical example of two degree of freedom bilateral teleoperation system is provided to show the effectiveness of obtained results.