Secure Self-Organizing Consensus Control under DoS Attacks and Bounded Input

This article examines the secure consensus control problem for leader-follower multiagent systems with bounded input under denial-of-service (DoS) attacks. In consideration of the feasible control capability, a predefined-time convergent consensus controller based on the hyperbolic tangent function is proposed. To address the adverse effects of DoS attacks, we introduce a label system that can detect DoS attacks and identify the isolated nodes irrelevant to the leader. By incorporating the label system, a resilient controller is obtained which guarantees the consensus performance for the normal nodes in the leader-rooted connected subgraph. To repair the disconnected topology hampered by DoS attacks, we propose a self-organizing topology mechanism, which can recognize the optimal isolated nodes appropriate for establishing supplemental links. The restoration of topology connectivity is achieved with the minimum number of added links. The assumption regarding the upper bounded duration of DoS attacks, which is widely used in existing works, can be avoided in our study. The effectiveness of the proposed approach is verified through experimental results.