Observer-Based Quantized Control for Multi-Agent Systems under Denial of Service Attack; Application to Satellite Formation Flight

In this paper, we propose a cooperative control law for multi-agent systems in the presence of communication capacity constraints and packet loss due to DoS attacks in communication among agents. The base of the proposed control law is a hierarchical optimal control law consisting of an individual feedback and a cooperative feedback. The cooperative feedback law is modified to compensate the constraints and packet loss. In particular, an observer and a quantizer are incorporated into the cooperative feedback. The relationship between the probability of packet loss and the required data rate is clarified. In addition, it is shown that, when packet loss occurs frequently, more communication capacity is needed to increase the amount of information per communication. Numerical simulations confirm the effectiveness of the proposed method.