Bumpless transfer distributed adaptive backstepping control of nonlinear multi-agent systems with circular filtering under DoS attacks

This paper studies the problem of resilient distributed cooperative control for a class of uncertain nonlinear multi-agent systems (MASs) under Denial-of-Service (DoS) attacks. To avoid repeatedly differentiating the discontinuous communication signals caused by the DoS attacks in the backstepping procedure, a new circular switching filter is constructed. Compared with the existing results, the circular switching filter can sufficiently improve the tolerance capacity for the DoS attacks in the sense that the DoS attacks can be tolerated as long as the network under attacks is intermittently connected. To address the issue of discontinuity of the switching controller, a bumpless transfer controller is further proposed by smoothing the discontinuous communication signals based on an artificial time delay mechanism. Simulation results illustrate the effectiveness of the proposed control schemes.