Distributed Model-Free Adaptive Containment Control for Nonlinear Multi-Agent Systems Under DoS Attacks and Actuator Faults

This article explores the containment control problem for nonlinear multi-agent systems subject to denial-of-service (DoS) attacks and actuator faults. The existing paradigm usually addresses network attacks or actuator faults individually by relying on approximately identified system models. To circumvent unknown dynamics and solve the above two issues simultaneously, a distributed data-driven model-free adaptive containment control approach is formulated. Initially, the data mapping of agents involving actuator faults is founded utilizing the dynamic linearization technique. Subsequently, consider DoS attacks follow the Bernoulli distribution, and a one-step attack compensation mechanism is developed. Furthermore, the convergence analysis of the containment error is presented based on the contraction mapping principle and the Lyapunov theory. Simulations validate the efficacy of the proposed approach.