Switched observer-based dynamic event-triggered consensus of multi-agent systems under DoS attacks

This paper investigates the observer-based consensus control for high-order nonlinear multi-agent systems (MASs) under denial-of-service (DoS) attacks. When the DoS attacks appear, the communication channels are destroyed, and the blocked information may ruin the consensus of MASs. A switched state observer is designed for the followers to observe the leader's state whether the DoS attacks occur or not. Then, a dynamic event-triggered condition is proposed to reduce the consumption of communication resources. Moreover, an observer-based and dynamic event-triggered controller is formulated to achieve leader-following consensus through the back-stepping method. Additionally, the boundedness of all closed-loop signals is obtained based on the Lyapunov stability theory. Finally, the simulation results demonstrate the effectiveness of the presented control strategy under DoS attacks.