Resilience-Based Output Formation-Containment Control of Nonlinear MASs Against DOS Attacks

This paper addresses the problem of distributed formation-containment tracking control for uncertain multi-agent systems (MASs) with completely unknown system nonlinearities, denial-of-service (DOS) attacks, and switching communication topologies. To enhance the system robustness, neural networks (NNs) are utilized to identify the unknown nonlinear terms. Additionally, a novel distributed observer is designed to reconstruct the external unmeasured attack dynamics. To handle the switching topologies of MASs, a mechanism using piecewise continuous functions is proposed to counteract the unexpected controller actions during switching time instants. Furthermore, the clever design of barrier Lyapunov functions aids in achieving the required predefined performance. A fractional power nonlinear filter is introduced to tackle the problem of computational complexity. By applying the local neighborhood states information and the lyapunov stability theory, the presented control method evaluates the stability of the MASs and shows that the designed controller not only enables the system output to track a formation trajectory in the presence of external attacks but also converges the consensus errors into a predefined set. Finally, simulation results are provided to validate the effectiveness of the proposed control strategy.