This article studies the resilient finite-time consensus tracking problem for high-order nonholonomic chained-form systems against denial-of-service (DoS) attacks. The first step is to develop a novel secure distributed observer for each follower in which the tangent hyperbolic function is used to accelerate the convergence speed of the observer by inducing a high-gain effect. The paralyzed-connectivity graphs resulting from DoS attacks are repaired to the initially connected graphs by integrating both acknowledgment-based attack detection techniques and the communication recovery process. In addition, it is demonstrated that the duration of DoS attacks directly affects the convergence time of the proposed scheme. Then, a fast finite-time backstepping control (FFTBC) algorithm is established for each follower to track the estimated leader's information, ensuring fast convergence performance regardless of whether the follower states are near or far from the equilibrium point. An approximation-based approach is also presented for reducing the conservatism of the upper estimate of the settling time. An evaluation of the proposed control algorithm under DoS attacks is conducted using a group of wheeled mobile robots.

中文翻译：

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针对 DoS 攻击的非完整高阶链式系统的弹性有限时间共识跟踪。

本文研究了针对拒绝服务 (DoS) 攻击的高阶非完整链式系统的弹性有限时间共识跟踪问题。第一步是为每个跟随者开发一种新颖的安全分布式观察者，其中使用正切双曲函数通过诱导高增益效应来加速观察者的收敛速度。通过集成基于确认的攻击检测技术和通信恢复过程，将由 DoS 攻击导致的瘫痪连接图修复为初始连接图。此外，证明了 DoS 攻击的持续时间直接影响所提出方案的收敛时间。然后，为每个跟随者建立一个快速的有限时间反步控制（FFTBC）算法来跟踪估计的领导者' s 信息，无论跟随者状态是靠近还是远离平衡点，都能确保快速收敛性能。还提出了一种基于近似的方法，以减少对稳定时间的上限估计的保守性。使用一组轮式移动机器人对所提出的控制算法在 DoS 攻击下进行评估。