Adaptive fault-tolerant control for nonlinear multi-agent systems with DoS attacks

This paper studies the fault tolerant control (FTC) problem for nonlinear multi-agent systems (MASs), in the presence of denial-of-service (DoS) attacks and actuator faults. In order to compensate for the effect of actuator faults, nonlinear dynamics and uncertainties, a distributed control strategy is presented by designing adaptive schemes and state-feedback control gains. The uncertainties are assumed to satisfy the integral quadratic constraints (IQCs), which is a more general presentation than the norm-bounded conditions. The aim of DoS attacks is to impede the communication among agents. A switching mechanism is proposed to ensure the tolerance to network disconnections. Based on Lyapunov stability theory and the average dwell time (ADT) approach, it is proved that the MASs can achieve mean square consensus by using the proposed controller. Finally, two illustrative examples are provided to verify the effectiveness of this method.