Event-Triggered Robust Tracking Control for Heterogeneous Multi-Agent Systems Subject to DoS Attacks

This paper investigates event-triggered$H_{\infty}$tracking control for heterogeneous nonlinear multi-agent systems under Denial-of-Service (DoS) attacks. A distributed observer is designed to estimate the leader's state despite intermittent communication failures, with exponential convergence guaranteed under constrained attack frequency and duration. A data-driven event-triggered control method is proposed to reduce communication, where the discrepancy between virtual and actual control inputs is treated as a perturbation. An$H_{\infty}$controller is developed via the HJI equation to attenuate this perturbation, ensuring prescribed disturbance attenuation. The overall closed-loop stability is analyzed. Sufficient conditions on attack parameters are established for exponential convergence. Simulation results on heterogeneous linear and nonlinear followers validate the effectiveness of the proposed scheme.