Anti-Attack Secure Fuzzy Adaptive Output Feedback Control for Nonlinear Multiagent Systems

This article investigates the design of an adaptive fuzzy output-feedback decentralized controller for a class of nonlinear multiagent systems (MASs). The considered systems are subject to unmeasurable states and are vulnerable to denial-of-service (DoS) attacks. Unknown nonlinear functions are approximated using fuzzy logic systems (FLSs). Furthermore, a switching-type fuzzy state observer is introduced to estimate the unmeasurable states. By leveraging the adaptive backstepping design technique and the dynamic surface control method, an adaptive fuzzy output feedback decentralized controller is synthesized. By combining Lyapunov stability theory with the concept of average dwell time (ADT), we rigorously prove that the proposed adaptive fuzzy decentralized resilient controller ensures the convergence of tracking errors to a small neighborhood of the origin despite DoS attacks, while maintaining the semi-global uniform ultimate boundedness (SGUUB) of all closed-loop signals. The effectiveness of the control strategy is verified by a nonlinear inverted pendulum system model and a group of multinonholonomic mobile robots.