Robust Distributed MPC for Constrained Multi -Agent Systems against DoS Attacks

The paper investigates the formation stabilization problem of nonlinear multi-agent systems (MASs). Each agent of the MASs studied in this paper is subject to external disturbances and there also exist denial-of-service (DoS) attacks affecting the communication channels among agents. To tackle these issues, a robust distributed model predictive control (MPC) scheme is proposed, in which a novel strategy is developed to compensate for the missing state information from neighbors induced by the DoS attacks. As a result, the effect of DoS attacks can be mitigated by using the proposed control strategy. In the meantime, the influence of additive disturbances is alleviated by designing the robustness constraints in the proposed distributed MPC. Finally, the effectiveness of proposed scheme is verified by the numerical simulation result.