Containment control for stochastic multiagent systems under denial-of-service attacks: a security-adaptive multichannel event-triggered control method

This paper is concerned with the event-triggered containment control issue for a class of stochastic nonlinear multiagent systems (MASs) under aperiodic denial-of-service (DoS) attacks. Unlike the existing event-triggered mechanisms (ETMs), a security-adaptive multichannel ETM (SAMETM) is proposed,in which the controller-to-actuator (C-A), parameter estimator-to-controller (PE-C) and sensor-to-observer (S-O) channels can be triggered simultaneously. In order to overcome the problem that the backstepping method cannot be used, due to existence of the non-differentiable terms in the triggered parameter estimator (TPE), a dynamic differentiable scaling method based on SAMETM is proposed. Furthermore, a set of switching-like observers are constructed, which collaborates with the proposed SAMETM to effectively reduce the impact of multiple channels subjected to aperiodic DoS attacks. Then, through the construction of multiple Lyapunov function, the less conservative feasibility conditions are derived for the cooperative design of switching-like observers and controllers. Subsequently,it can be proved that the containment errors are semi-globally uniformly ultimately bounded (SUUB) under aperiodic DoS attacks. Finally, simulation results verify the effectiveness of the proposed control strategy.