Internal Model Based Cooperative Robust Resilient Control Under DoS Attacks With Application to Vehicles Formation

The cooperative robust resilient output regulation problem is investigated in this article for linear uncertain multiagent systems under denial-of-service (DoS) attacks. To tackle arbitrarily large parametric uncertainties, the canonical internal model is attached to the multiagent system, converting the cooperative robust resilient output regulation problem into the auxiliary event-triggered stabilization problem of the augmented error system. Then, employing a hybrid sampling mechanism mixing event-triggered and time-triggered scenarios, the augmented error system is stabilized by a novel sampled distributed output feedback control law. Moreover, rigorous proof shows that the Zeno behavior shall not happen. Finally, the proposed control scheme is applied to solve the geometric formation problem for a platoon of vehicles under DoS attacks.