Self-Triggered Predefined-Time Cooperative Control Against DoS Attacks for Multiagent Systems With Uncertain Powers

This article studies the predefined-time cooperative control based on self-triggered mechanism for the multiagent system with uncertain powers and denial-of-service (DoS) attacks. Unlike the majority of existing results with input powers of one, the system's powers considered in this study are uncertain odd numbers greater than one. A distributed observer in the first-order filter form is designed to estimate unmeasurable states under DoS attacks. Subsequently, by constructing a transform function, we establish a new distributed predefined time control law based on the neural network approximation approach. Different from the working theory of the event-triggered mechanism, the triggering moment of self-triggered mechanism introduced in this article is determined by the previous moment's state, which further decreases the resource wastage. Compared with finite-time and fixed-time control, the distributed predefined-time control protocol developed in this article can guarantee that system's synchronization errors are steered to a preset range within a predefined time, and the predefined time and range can be set freely by the user. Finally, the theoretical design is verified by some simulation results.