Flexible prescribed performance control for multiagent systems under DoS attacks and input saturation

This paper proposes a flexible prescribed performance control method to solve the consensus tracking control problem for nonlinear multi-agent systems under denial-of-service attacks and input saturation. Firstly, to meet performance constraints, we introduce a novel prescribed performance function and nonlinear mapping function, effectively transforming the constraint problem into a stability problem. Secondly, to achieve flexible prescribed performance control, a novel predefined time auxiliary system is developed to modify the performance boundary under input saturation. Compared with existing auxiliary systems, the auxiliary system in this article can guarantee the performance boundary rapidly return to its original predefined boundary fully, when input saturation diminishes. Thirdly, to ensure that follower agents can promptly observe the leader's signal within a limited time, a newly designed predefined time observer is introduced to monitor the leader, even in the presence of denial-of-service attacks. Furthermore, by backstepping recursion and using fuzzy logic system to approximate the unknown nonlinear function, the controllers are designed only using local information, and the control scheme is fully distributed. Finally, the obtained results are validated through simulation examples.