This paper studies the fault tolerant control (FTC) problem for nonlinear multi-agent systems (MASs), in the presence of denial-of-service (DoS) attacks and actuator faults. In order to compensate for the effect of actuator faults, nonlinear dynamics and uncertainties, a distributed control strategy is presented by designing adaptive schemes and state-feedback control gains. The uncertainties are assumed to satisfy the integral quadratic constraints (IQCs), which is a more general presentation than the norm-bounded conditions. The aim of DoS attacks is to impede the communication among agents. A switching mechanism is proposed to ensure the tolerance to network disconnections. Based on Lyapunov stability theory and the average dwell time (ADT) approach, it is proved that the MASs can achieve mean square consensus by using the proposed controller. Finally, two illustrative examples are provided to verify the effectiveness of this method.

本文研究了存在拒绝服务（DoS）攻击和执行器故障的情况下的非线性多智能体系统（MAS）的容错控制（FTC）问题。为了补偿执行器故障，非线性动力学和不确定性的影响，通过设计自适应方案和状态反馈控制增益，提出了一种分布式控制策略。假定不确定性满足积分二次约束（IQC），这是比范数约束条件更一般的表示形式。DoS攻击的目的是阻止代理之间的通信。为了确保对网络断开的容忍度，提出了一种交换机制。基于李雅普诺夫稳定性理论和平均停留时间（ADT）方法，证明了使用所提出的控制器可以使MAS达到均方共识。