Secure cooperative output regulation for linear parameter-varying systems under DoS attacks: a resilient observer approach

This paper investigates the cooperative output regulation problem of heterogeneous linear parameter-varying multi-agent systems under denial-of-service (DoS) attacks. The matrix and state of the exosystem are taken to be unknown to the followers. Moreover, with the assumption that only a directed spanning tree exists in the communication topology, a resilient observer is proposed to exponentially estimate the global information, which can also be effective under DoS attacks with a certain intensity. Afterward, to avoid using the exact value of the exosystem matrix, a distributed online algorithm is proposed, through which the linear parameter-varying output regulation equation is asymptotically solved. Based on the resilient observer and the solution of the output regulation equation, a distributed regulator is proposed to achieve asymptotic cooperative output regulation for all agents. Some numerical simulations are conducted to verify the effectiveness of the proposed observer, algorithm, and controller.