Observer-based event-triggered cloud predictive control for heterogeneous MASs with DoS attacks and delays

This article concerns observer-based consensus compensation control for heterogeneous networked multi-agent systems under both networked Denial of Service (DoS) attacks and transmission delays. We propose a control method that combines the observer-based adaptive event-triggered control and the observer-based cloud predictive control, which can not only reduce the network transmission burden, but also can compensate for the negative effects caused by DoS attacks and transmission delays completely. The consensus conditions, the observer and controller gain matrices and the event- triggering parameter matrices are all simultaneously derived by using the linear matrix inequality method.