Resilient practical cooperative output regulation for MASs with unknown switching exosystem dynamics under DoS attacks

In this paper, the resilient practical cooperative output regulation problem (CORP) is addressed for heterogeneous linear multi-agent systems with unknown switching exosystem dynamics under denial-of-service (DoS) attacks. Different from most existing cooperative output regulation works, the exosystem dynamics considered in this paper are unknown to all agents and switching in different time intervals. A novel resilient practical cooperative output regulation control scheme is developed. This scheme consists of (i) a data-driven learning algorithm to learn the unknown switching exosystem matrices; (ii) an auxiliary observer to estimate the state of the exosystem; (iii) distributed resilient observers to estimate the state of the auxiliary system; and (iv) distributed controllers for individual agents. By using the dwell-time method, rigorous stability analysis shows that the resilient observation errors are globally ultimately bounded in the presence of DoS attacks and the resilient practical CORP is solved. Finally, a simulation example is given to illustrate the effectiveness of the proposed control scheme.