Distributed Adaptive Consensus Control for Nonlinear Systems with Active-Defense Mechanism Against Denial-of-Service Attacks

This article focuses on the distributed adaptive consensus control problem for nonlinear systems with unknown parameters and denial-of-service (DoS) attacks. The communication channels among subsystems are directed and DoS attacks are executed on subsystems to jam the communication transmission. Besides, only part of these subsystems can access states of the desired reference system. To actively alleviate attack effects on the consensus performance, a distributed adaptive consensus control scheme with an active-defense mechanism is proposed. The active-defense mechanism consists of an attack-detection algorithm and a switching strategy. The distributed adaptive consensus controller is designed with normalized damping terms in control inputs and parameter update laws. In the presence of DoS attacks, a stability condition is derived based on the designed control scheme, which guarantees that the consensus errors are globally uniformly bounded under arbitrary switching dwell-time. Experimental results are provided to validate the effectiveness of the proposed control scheme with the active-defense mechanism.