Estimator-based adaptive prescribed performance cooperative bipartite containment control of nonlinear multiagent system against DoS attacks

This paper studies the prescribed performance bipartite containment control design issue for nonlinear multiagent systems (MASs) under denial-of-service (DoS) attacks. First, an attack compensator is built for each agent in order to obtain the system output when the DoS attacks appear. Then, a fuzzy estimator is developed to estimate the unknown states based on the attack compensator. Second, a prescribed performance control (PPC) approach is utilized to ensure the bipartite containment error within a preassigned boundary, and the restriction related to the initial condition is removed. Finally, a set of switching laws is designed by combining the average dwell time method with the limited conditions of DoS attacks. Under this framework, an appealing feature of the designed controller is that the output signals of followers converge to a convex hull formed by leaders and all the signals in the closed-loop system remain bounded. A simulation example is given to demonstrate the effectiveness of the control strategy.