Event-triggered Model Free Adaptive Containment Control for Nonlinear Multiagent Systems Under DoS Attacks

This paper proposes an event-triggered model free adaptive control (MFAC) method for a class of unknown nonlinear multiagent systems to perform containment task, where the multiagent systems are suffering from denial-of-service (DoS) attacks. Firstly, the DoS attacks are described as limited by their frequency and duration, without any more specific assumptions about the structure of the attack strategies. Secondly, based on the pseudo partial derivative (PPD), the unknown dynamic is transformed into a linearization model. Then, a novel distributed containment control scheme is designed for each follower using MFAC algorithm. On this basis, an event-triggered condition along time domain is constructed to save communication resources. Rigorous analysis shows that the proposed method can render the outputs of the followers converge to a convex hull formed by the outputs of leaders under DoS attacks. Finally, simulation results verify the effectiveness of the proposed design.