Observer-based resilient cooperative output regulation for nonlinear multiagent systems with time-varying parameters and DoS attacks

Ming-Juan Guo and Yuan-Xin Li

International Journal of Systems Science, 2025, vol. 56, issue 6, 1332-1346

Abstract: This paper aims to address the cooperative output regulation (COR) problem of nonlinear multiagent systems (MASs) with time-varying parameters under denial-of-service (DoS) attacks. First, to address the challenges of unavailable leader signals and non-differentiability issue caused by the DoS attacks, a class of first-order low-pass filters is employed to develop a novel distributed resilient observer, which accurately estimate the exosystem state with the existence of high-order derivatives. Then, by viewing the output of observer as the reference signal, a distributed resilient controller is designed for each follower to address the reference-tracking problem. By introducing a smooth function with positive integrable time-varying function, novel adaptive laws are developed and incorporated with the controller design to effectively compensate for the unknown time-varying parameters. By utilising Lyapunov stability theory, the asymptotic convergence of output regulation error can be ensured. Finally, simulation results are conducted to verify the validity of the designed method.

Date: 2025
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DOI: 10.1080/00207721.2024.2423031

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