Distributed Observer-Based Resilient Consensus Tracking Control Under DoS Attacks: Theory and Experiment

This article investigates the consensus tracking control problem for nonlinear leader–follower multiagent systems (MASs) threatened by denial-of-service (DoS) attacks. To estimate the leader’s states, a robust predefined-time observer is proposed, which demonstrates immunity to singularity issues. To address topology disruptions caused by DoS attacks, a distributed label system is developed for real-time identification and classification of node types. A dual-modal switching resilient observer is introduced to mitigate attack impacts. For nodes within the leader-rooted spanning tree, the observer ensures rapid convergence of observation errors, while for isolated nodes, it enables on-demand management postidentification. Furthermore, a prescribed performance controller is proposed, ensuring practical predefined-time convergence while maintaining both transient and steady-state performance. The effectiveness of the proposed approach is validated through experiments on a multimotor platform.