A distributed control scheme that drives discrete-time nonlinear multi-agent systems to leader-follower or leaderless consensus while under simultaneous False Data Injection and Denial-of-Service attacks, without any separate attack-detection step. A group of attack-resilient observers built on the discrete-time compact-form dynamic linearization (DCFDL) model jointly estimates the injected attack signal, external disturbances, and the residual lumped disturbance, and a DoS-compensation term restores the neighborhood consensus error whenever communication is blocked. A mean-square stability analysis using induced matrix norms and the Gershgorin disk theorem proves the consensus estimation error stays bounded.
This control-theory letter introduces an observer-based model-free adaptive control (MFAC) scheme that makes discrete-time nonlinear multi-agent systems reach leader-follower and leaderless consensus…