Observer-based event-triggered consensus control of nonlinear cyber-physical systems under backlash-like hysteresis and denial-of-service attacks

In this article, we investigate the problem of event-triggered distributed consensus control for a class of complex cyber-physical systems (CPSs), where unknown backlash-like hysteresis inputs and denial-of-service (DoS) attacks are considered in actuators and communication channels, respectively. In the first place, when communication networks are subjected to malicious DoS attacks, the connection weights of network communication topologies experience disruptions. To solve this issue, this work proposes a solution by constructing topological models for communication networks employing switching topologies and utilizing observers to estimate the combined measurement errors during the time interval of DoS attacks. Secondly, to address the repercussions of DoS attacks on control units and to optimize the utilization of communication resources, a distributed control protocol based on an event-triggered scheme and employing locally deployed estimators is designed to significantly decrease the update frequency of control signals. Meanwhile, utilizing Lyapunov stability theory, the boundedness of all signals in the closed-loop system is validated, thereby accomplishing the goal of consensus control. At last, the efficacy of the proposed control scheme is demonstrated through two simulation examples.