Model-Free Adaptive Hierarchical Resilient Cloud Control for Multiagent Group Systems Under Aperiodic DoS Attacks

In this article, the large-scale networked heterogeneous multiagent systems (LSNH-MASs) under dual-channel aperiodic Denial-of-Service (DCA-DoS) attacks with unknown mathematical models and limited computing power are studied. In order to overcome the unknown mathematical model of the system and enhance the ability of consensus control of LSNH-MASs, a model-free adaptive hierarchical resilient cloud control (MFAHRCC) strategy, only using input and output data, is proposed. This strategy can reduce the negative impact of the DCA-DoS attacks by designing a compensation factor. The stability and consensus of LSNH-MASs in insecure network environment are strictly proved. Under the constructed cloud control framework, the computation burden of all agents is borne by the cloud controller, which not only improves the ability of real-time processing data of the system but also greatly reduces the hardware cost of agents. Finally, the effectiveness of the MFAHRCC algorithm proposed in this article is verified by simulation with comparisons.