Adaptive Fuzzy Secure Containment Control for Fully Heterogeneous Nonlinear Systems Under Switching Topologies and DoS Attacks

This article proposes a novel fuzzy secure containment control strategy in an adaptive framework for fully heterogeneous nonlinear multiagent systems (FHNMASs), which can resist the combined impacts of randomly switching topologies and denial-of-service (DoS) attacks. Unlike existing containment control protocols that rely on multiple leaders sharing the same system matrices, our approach is applicable to more general systems, where multiple leaders and followers are allowed to be equipped with nonidentical system matrices and even state dimensions. The switching signal of communication graphs is regulated by the random Markov process, and the connectivity assumption is relaxed by merely requiring the union graph of possible subgraphs to be connected. First, new adaptive observers are constructed that can observe leaders' states without access to global topology information, even under randomly switching topologies and DoS attacks. Second, based on fuzzy logic systems and output regulation methods, fuzzy system state estimators are introduced to address challenges associated with unknown nonlinear functions and unmeasurable states of followers. Further, a new fuzzy controller is developed to guarantee the achievement of flexible secure output containment, where containment coefficients no longer depend on the Laplacian matrix and can be flexibly preset to accommodate various tasks. Finally, the theoretical algorithm is validated through simulation results.