Distributed model-free adaptive control for multi-agent systems with external disturbances and DoS attacks

This paper presents a distributed consensus control algorithm for nonlinear multi-agent systems (MASs) with external disturbances and denial-of-service (DoS) attacks. Modified dynamic linearization is proposed for the linear transformation of the MASs, and an extended discrete state observer (EDSO) improves their robustness. An attack compensation scheme eliminates the effects of DoS attacks. Based on the EDSO and the attack compensation scheme, a distributed model-free adaptive control (DMFAC) algorithm is developed to achieve consensus control in a boundary, and simulations verify its superiority in tracking time and tracking accuracy over other control algorithms.