Design of non-smooth consensus protocol for multi-agent systems under DoS attacks

In this paper, we focus on the consensus problem of leaderless multi-agent systems with external disturbance under denial-of-service (DoS) attacks. First, the state predictor is constructed to reproduce the state information blocked during the active periods of DoS attacks. Then, a robust non-smooth consensus protocol is designed using the predictor states, which mitigates the open loop phenomenon caused by the DoS attacks. Besides, we obtain the sufficient condition for agents to achieve consensus within a region, and demonstrate that the protocol can enhance the anti disturbance and anti-attack capabilities of the systems. Finally, the theoretical results are verified through numerical simulations.