Adaptive Resilient Flexible-Containment Control for Fully Heterogeneous MASs Subject to DoS Attacks and Asynchronous Semi-Markov Chains.

This article investigates the adaptive resilient flexible output containment (FOC) control problem for semi-Markov jump fully heterogeneous multiagent systems (FHMASs) under random switching topologies and denial-of-service (DoS) attacks. In contrast to most existing containment control results, the proposed control strategy can address the challenges posed by the full heterogeneity of multiagent systems (MASs), particularly when multiple leaders exhibit different system dynamics. To better reflect real-world MASs and communication networks, multiple asynchronous semi-Markov chains are employed for the first time to capture system parameter variations and communication topology switching, incorporating generally uncertain transition rates (TRs). In order to deal with this problem, a novel adaptive observer-based FOC control framework is developed. First, by introducing an adaptive gain, the adaptive resilient observers can observe leaders' states without prior knowledge of global topology information and TRs, while resisting the impacts of random switching topologies and DoS attacks. Then, a dynamic output feedback controller is designed to ensure the achievement of FOC. Notably, the containment coefficients in the controller design are no longer tied to the Laplacian matrix and can be flexibly predefined to align with specific task requirements. Furthermore, the linear matrix inequalities (LMIs) to obtain estimator gain matrices and controller gain matrices are derived for the case of generally uncertain TRs, respectively. Finally, the effectiveness of the theoretical method is demonstrated through the simulation.