Adaptive Hierarchical Event-Triggered H ∞ Output Tracking of IT2 Fuzzy Heterogeneous Multiagent Systems Under Multiple-Channel DoS Attacks

Output tracking control has been extensively applied in the cooperative control of multiagent systems (MASs), including mobile robot obstacle avoidance and autonomous aerial vehicle formation. This article investigates the $H_{\infty }$ output consensus tracking problem of interval type-2 (IT2) fuzzy heterogeneous MASs subject to multiple-channel denial-of-service (DoS) attacks. First, in the presence of DoS attacks on both leader-follower and follower-follower communication channels, a fully distributed adaptive compensator is designed to approximate the convex hull of the leader's state. Then, to address DoS attacks occurring in the compensator-controller and observer-controller channels, an observer-based fuzzy switched controller is developed for each follower agent to accomplish the tracking objective. Furthermore, a two-layer hierarchical hybrid event-triggered mechanism (ETM) is established to significantly reduce the communication burden of the MAS network. In the proposed ETM, asynchronous communication and Zeno behavior are rigorously excluded, while the triggering frequency is effectively decreased. Moreover, a sufficient condition is derived to guarantee the exponential stability of the tracking error with a prescribed $H_{\infty }$ performance. Finally, simulation results are provided to demonstrate the feasibility and superiority of the proposed approach.