SMC-Based Bounded Consensus Tracking for Multiagent Systems Under Stochastic DoS Attacks With Applications to Multiple DC Motors

This article presents a sliding mode controller to address the challenge of achieving mean-square bounded consensus tracking for leader-follower multiagent systems (MASs) under stochastic denial-of-service (DoS) attacks. Such cyber attacks can reduce the effective transmission of measurement signals by interrupting the communication between the MASs and the control station, thereby corrupting the feasibility of control. Existing descriptions of DoS attacks typically rely on two energy assumptions regarding attack frequency and duration, which introduce conservatism into the stability analysis of the system. Conversely, this article models DoS attacks using a two-mode Markov process, thereby preventing the necessity for explicit energy constraints. To ensure control feasibility under DoS attacks, a control scheme that uses the latest uncontaminated control input signal and uses it as the new primary control input signal until the DoS attack ceases is adopted to mitigate the effects of DoS attacks effectively. Based on the Lyapunov function method, it is shown that the designed sliding mode controller guarantees the reachability and mean-square bounded consensus tracking of the resulting global tracking error dynamic system under Markov-type DoS attacks. At last, the correctness and the effectiveness are verified by a web-based multiple dc motors angle coordinated control experiment.