Secure Predictive Coordinated Control of High-Order Fully Actuated Networked Multiagent Systems Under Random DoS Attacks

This research addresses a coordinated control problem for high-order fully actuated networked multiagent systems (HOFANMASs) under random denial-of-service (DoS) attacks. A type of Bernoulli processes is exploited to denote the successful rate of launching random DoS attacks happened to the forward and feedback channels. When acting these attacks successfully, random data losses and disorders are caused in the forward and feedback channels. A high-order fully actuated (HOFA) secure predictive coordinated control scheme is provided to achieve the security coordination. In this scheme, a dynamic model of networked multiagent system is established with the help of a HOFA system model, which is called the HOFANMAS. Then, a prediction model in an incremental HOFA (IHOFA) form is developed by means of a Diophantine equation, which aims at constructing the multistep ahead output predictions for the optimization of coordinated control performance and the compensation of random data losses and disorders. Furthermore, a necessary and sufficient condition is proposed to analyze the consensus and stability of closed-loop HOFANMASs. The effectiveness and superiority of HOFA secure predictive control scheme can be demonstrated via simulated and experimental results of formation control for three air-bearing spacecraft (ABS) simulators.