Observer-Based Fixed-Time Leader-Following Consensus Control for MASs Subject to DoS attack

In this article, we study the fixed-time (FT) leader-following consensus (LFC) control problem on multi-agent systems (MASs) subject to denial-of-service (DoS) attacks and disturbances. Firstly, considering the unknown velocity and disturbance, a prescribed-time extended state observer (ESO) is proposed for estimating velocity and disturbance. Sufficient conditions on the error dynamics of the prescribed-time ESO to converge in prescribed time are given in the form of a linear matrix inequality. Moreover, by utilizing data transmitted from neighboring agents, a cooperative FT sliding mode control scheme is proposed. To assure that the MASs can achieve the LFC in front of DoS attacks, the relevant sufficient conditions are given. Independent of the starting state value, the upper bound of convergence time is deduced. Finally, an example is presented as an illustration of the effectiveness of the proposed approach.