Event-triggered hierarchical distributed model-free adaptive control for MASs under DoS attacks

This paper proposes an event-triggered hierarchical distributed model-free adaptive control (MFAC) scheme for nonlinear multi-agent systems (MASs) subject to aperiodic denial-of-service (DoS) attacks. Since some followers are unable to access the leader's information directly, a distributed observer is implemented to access the leader's state. Then, an attack compensator is applied to reduce the negative impact of the aperiodic DoS attacks and a dynamic event-triggered mechanism is used to reduce network communication resources. Based on which, an event-triggered MFAC controller is designed to obtain the leader-follower tracking control. Finally, the stability analysis of the designed control algorithm is rigorously proved and a simulation is to validate the effectiveness of designed control algorithm.