Model Free Adaptive Control for Nonlinear Multi-Agent Systems Under Actuator Faults and DoS Attacks

A model free fault-tolerant and intrusion-tolerant control approach is developed for nonlinear multi-agent systems (MASs) characterized by unknown dynamics, facing denial-of-service (DoS) attacks and actuator faults. Initially, the equivalent dynamic linearization method based on pseudo-partial derivatives is employed to characterize actuator fault information, while models for DoS attacks on communication links follow the Bernoulli distribution. Compensation mechanisms for actuator faults and data packets loss are then introduced. Subsequently, a distributed model free adaptive control scheme is devised based on above mechanisms, and the bounded convergence of the tracking error is proven using a compressive mapping method. Numerical simulations showcase the efficacy of the control approach.