Observer-based consensus control of nonlinear multiagent systems under semi-Markovian switching topologies and cyber attacks

This article investigates the leader-following consensus of nonlinear multiagent systems under semi-Markovian switching topologies and cyber attacks. Unlike the related works, the communication channels considered herein are subjected to successful but recoverable attacks, and when the channels work well, the network topology is time-varying and described by a semi-Markovian switching topology. Due to the effect of attacks, the communication network is intermittently paralyzed. For the cases that the transition rates of semi-Markovian switching topologies are completely known and partially unknown, observer-based control protocols and sufficient conditions are proposed, respectively, to ensure the consensus of the systems in the mean square sense. Finally, simulation examples are given to illustrate the validity of the theoretical results.