This paper investigates the leader–follower robust ${H_\infty }$ consensus of heterogeneous multiagent systems with denial of service attack, where different attack intensities are considered. A switched system model is introduced to model such an attack phenomenon. Then, sufficient conditions to guarantee the solvability of the robust output consensus problem are obtained, and the quantitative relationship between the consensus performance and attack parameter is established. It is shown that the consensus protocol design problem can be transformed into two static output feedback (SOF) control problems. It is also shown that the SOF controller gains can be determined by solving some linear matrix inequalities without the knowledge of the probability information of each attack. Finally, the effectiveness of the control protocol is demonstrated by a simulation study.

中文翻译：

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一种基于 DoS 攻击的异构线性多代理系统领导者-跟随者共识的新交换系统方法

本文研究了具有拒绝服务攻击的异构多代理系统的领导者 - 追随者鲁棒 ${H_\infty }$ 共识，其中考虑了不同的攻击强度。引入了一个切换系统模型来模拟这种攻击现象。然后，获得了保证鲁棒输出共识问题可解的充分条件，并建立了共识性能与攻击参数之间的定量关系。结果表明，共识协议设计问题可以转化为两个静态输出反馈（SOF）控制问题。还表明，在不知道每次攻击的概率信息的情况下，可以通过求解一些线性矩阵不等式来确定 SOF 控制器增益。最后，