This article studies the adaptive output-feedback consensus control problem of nonlinear multiagent systems (MASs) against denial-of-service (DoS) attacks. The attacks on the edges instead of nodes are considered, where we allow different attack intensities but at least one edge is connected in each attacking interval. Affected by output disturbance, the sensor feedback signal of every agent is inaccurate, which will reduce the approximation accuracy of the observer. Then, we design a signal to revise the sensor feedback signal subject to disturbance. Meanwhile, a prescribed performance function is used to ensure the transient and steady-state performance of error. Leveraging the Lyapunov stability theory and the backstepping technique, a distributed output-feedback control scheme subject to asymmetric saturation nonlinearity is designed. For the asymmetric input saturation, an auxiliary signal is designed to simplify the designed progress of controller input. To deal with the inherent problem of “explosion of complexity” emerging with backstepping, dynamic surface control is utilized. It is proved that the consensus errors converge to small neighborhoods of the origin, and all signals within the closed-loop system are bounded. Finally, simulation results are offered to demonstrate the effectiveness of the proposed method.

中文翻译：

---

DoS 攻击和输出干扰下非线性多智能体系统的分布式基于观察者的自适应模糊一致性


本文研究了非线性多智能体系统（MAS）抵抗拒绝服务（DoS）攻击的自适应输出反馈一致性控制问题。考虑对边而不是节点的攻击，其中我们允许不同的攻击强度，但在每个攻击间隔中至少连接一条边。受输出扰动的影响，各智能体的传感器反馈信号不准确，这会降低观测器的逼近精度。然后，我们设计了一个信号来修正受干扰的传感器反馈信号。同时，采用规定的性能函数来保证误差的瞬态和稳态性能。利用Lyapunov稳定性理论和反步技术，设计了一种受非对称饱和非线性影响的分布式输出反馈控制方案。针对非对称输入饱和，设计了辅助信号来简化控制器输入的设计过程。为了解决反步法中出现的“复杂性爆炸”的固有问题，采用了动态表面控制。证明了一致性误差收敛于原点的小邻域，并且闭环系统内的所有信号都是有界的。最后，提供仿真结果来证明该方法的有效性。