# Quantized Consensus under Data-Rate Constraints and DoS Attacks: A Zooming-In and Holding Approach

arXiv: https://arxiv.org/abs/2207.08332 · HTML: https://mlsanity.com/paper/2207.08332/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 6 of its 52 references that are in the map.
- First posted on arXiv 18 Jul 2022.

## Builds on (most cited first, 6 of 6)

- [Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview](https://mlsanity.com/paper/1902.09032/) (2019)
- [Resilient Control under Denial-of-Service:Robust Design](https://mlsanity.com/paper/1603.02564/) (2016)
- [Stabilization of Networked Control Systems under DoS Attacks and Output Quantization](https://mlsanity.com/paper/1709.08149/) (2017)
- [Coordination Over Multi-Agent Networks With Unmeasurable States and Finite-Level Quantization](https://mlsanity.com/paper/1505.03259/) (2015)
- [Dynamic Quantized Consensus of General Linear Multi-agent Systems under Denial-of-Service Attacks](https://mlsanity.com/paper/2004.13815/) (2020)
- [Resilient Control under Quantization and Denial-of-Service: Co-designing a Deadbeat Controller and Transmission Protocol](https://mlsanity.com/paper/2103.11862/) (2021)

## Abstract (arXiv)

This paper is concerned with the quantized consensus problem for uncertain nonlinear multi-agent systems under data-rate constraints and Denial-of-Service (DoS) attacks. The agents are modeled in strict-feedback form with unknown nonlinear dynamics and external disturbance. Extended state observers (ESOs) are leveraged to estimate agents' total uncertainties along with their states. To mitigate the effects of DoS attacks, a novel dynamic quantization with zooming-in and holding capabilities is proposed. The idea is to zoom-in and hold the variable to be quantized if the system is in the absence and presence of DoS attacks, respectively. The control protocol is given in terms of the outputs of the ESOs and the dynamic-quantization-based encoders and decoders. We show that, for a connected undirected network, the developed control protocol is capable of handling any DoS attacks inducing bounded consecutive packet losses with merely 3-level quantization. The application of the zooming-in and holding approach to known linear multi-agent systems is also discussed.