Cooperative Observer-Based Fuzzy Tracking Control for Nonlinear MASs Under DoS Attacks

This article studies the cooperative resilient tracking control problem for nonlinear multiagent systems (MASs) under denial-of-service (DoS) attacks and time delays. In comparison to the existing distributed control results based on the output observability condition, a joint output observability condition, which is a more universal one, is considered in this article. Based on this, a novel cooperative resilient observer is designed to estimate the state of the reference system subjected to DoS attacks and time delays in the communication topology. Then, a new observed variable with high-order derivatives is constructed by designing a novel chain of low-pass filters. Furthermore, with the help of the newly constructed variables, a fuzzy controller is proposed by using the adaptive method and backstepping technology to ensure the semiglobally uniformly ultimately boundedness for tracking errors. Finally, a simulation example is included to showcase the effectiveness of the proposed method.