Observer-based resilient cooperative output regulation for nonlinear multiagent systems with time-varying parameters and DoS attacks

Abstract

This paper aims to address the cooperative output regulation (COR) problem of nonlinear multiagent systems (MASs) with time-varying parameters under denial-of-service (DoS) attacks. First, to address the challenges of unavailable leader signals and non-differentiability issue caused by the DoS attacks, a class of first-order low-pass filters is employed to develop a novel distributed resilient observer, which accurately estimate the exosystem state with the existence of high-order derivatives. Then, by viewing the output of observer as the reference signal, a distributed resilient controller is designed for each follower to address the reference-tracking problem. By introducing a smooth function with positive integrable time-varying function, novel adaptive laws are developed and incorporated with the controller design to effectively compensate for the unknown time-varying parameters. By utilising Lyapunov stability theory, the asymptotic convergence of output regulation error can be ensured. Finally, simulation results are conducted to verify the validity of the designed method.