Secure Distributed Control for Consensus of Multiple EL Systems Subject to DoS Attacks

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 54; no. 6; pp. 3879 - 3890
• Main Authors: Zhang, Ruimei, Wang, Hongxia, Park, Ju H., Zeng, Deqiang, Cheng, Jun
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive distributed control (DC); Adaptive sampling; Cyberattack; Denial of service attacks; denial-of-service (DoS) attacks; Denial-of-service attack; distributed sampled-data (SD) control; leaderless consensus; Linear matrix inequalities; Multi-agent systems; Multiagent systems; multiple Euler–Lagrange (EL) systems; Program processors; Robot arms; Torque; Vehicle dynamics; W-dependent Lyapunov–Krasovskii functional (LKF)
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2024.3373560

Under the framework of multiagent systems (MASs), this article is focused on the leaderless consensus of multiple Euler-Lagrange (EL) systems subject to denial-of-service (DoS) attacks. First, a new joint control protocol, which combines the distributed sampled-data (SD) control and adaptive distributed control (DC), is designed. The distributed SD control is equipped with logic processors, which can capture key information of DoS attacks, and the adaptive DC is conducive to relaxing some generally required constraint conditions. Second, a new property of a non-negative differentiable function is proposed, which is very helpful in solving the distributed SD control issue of multiple EL systems. Third, by setting up a <inline-formula> <tex-math notation="LaTeX">\textbf {W} </tex-math></inline-formula>-dependent Lyapunov-Krasovskii functional (LKF) and utilizing the property of the non-negative differentiable function, new leaderless consensus results are derived for multiple EL systems with DoS attacks. The obtained leaderless consensus results are in the shape of linear matrix inequalities (LMIs) and can efficiently counter the influence of the DoS attacks. Ultimately, the effectiveness of the derived results is inspected by an MAS with multiple two-linked robot manipulators.