为解决DoS攻击下智能体间不能正常通信的问题,研究了基于符号图的离散异质多智能体系统包含控制。首先,考虑跟随者状态不能在线获得的情况,构造分布式状态观测器; 其次,在每个跟随者的控制器设计中加入历史时刻信息,提出分布式动态反馈控制方案,通过内外系统加强包含控制的约束条件,使得系统中的跟随者能够收敛到领导者形成的凸包中,解决系统的输出调节问题; 利用分段Lyapunov泛函、线性矩阵不等式等技巧,得到系统渐近收敛的充分条件; 最后,通过数值仿真验证所提理论的有效性。

Considering that the agents cannot communicate normally with each other under Denial-of-Service (DoS) attack,the problem of containment control for discrete,heterogeneous multi-agent systems based on graphical diagram is studied.A distributed state observer is constructed with consideration that the follower state can not be obtained online.History information is added in the design of each followers controller,and a distributed dynamic state feedback control scheme is adopted to strengthen the constraint conditions of containment control through internal and external systems.Therefore,the followers in the system can track the leader in time,and the problem of system output regulation is solved.By using piecewise Lyapunov function,linear matrix inequality and other techniques,sufficient conditions for the asymptotic convergence of the system are obtained.Finally,numerical simulations verify the validity of the proposed theoretical results.