Time-Varying Formation-Containment Tracking Control of Heterogeneous Multi-Agent System Under Denial of Service Attack and Sensor Fault

In this paper, the problem of output-feedback time-varying formation-containment tracking control for heteroge-neous multi-agent systems with sensor fault under distributed denial of service (DoS) attacks is studied. The leaders are non-cooperative, which are embedded with unknown input. Firstly, in order to estimate the sensor fault and the states of the followers, a distributed fault-detecting observer is designed. Secondly, in order to deal with distributed DoS attacks and the unknown input of the leaders, a leader state estimator is designed. Finally, a distributed output-feedback containment control law is proposed to realize the time-varying formation tracking of the convex hull of multiple leaders. It is proved that the proposed control scheme guarantees the exponential convergence of all errors of the multi-agent system, and the effectiveness and superiority of the proposed scheme are verified by simulation experiments.