The problem of robust leader-following consensus of heterogeneous multiagent systems subject to deny-of-service attacks is investigated, where attack strategies are partially unknown and uncertain to defender. A Markovian jump system approach is proposed, that is, capable of describing the occurrence of different attack strategies, and the occurring probability of each attack strategy is represented by the transition probability of the Markovian jump model. Then, sufficient conditions are derived such that the output tracking performance can be guaranteed. In order to design the controller gains, some slack matrices are introduced, which can provide some design freedom. Finally, it is shown that the controller design results can be applied to the multivehicle position-tracking system. The simulation results reveal that the consensus performance is much better if one has more statistics information on attacks. K E Y W O R D SMarkovian jump systems, multiagent systems, H ∞ control, consensus, DoS attack INTRODUCTIONConsensus of multiagent systems (MASs) has received increasing attention due to its extensive applications in smart factories, smart grids, smart cities, and so on, see References 1-8 for more details. In such a large-scale system, each agent communicates and cooperates with its neighbors, and they can accomplish a large number of complex tasks that a single agent cannot accomplish. In literature, there are two different kinds of consensus problems, one is leader-less consensus and the other is leader-following one. In the former one, there does not exist leader, while in the latter case, all the following agents shall track the states and outputs of the leader. Taking the Reference 9 as an example, the leader-less consensus problem was studied and the main focus is to devise a state feedback control law, under which all the agent's states can achieve to the average value. The leader-following consensus problem was investigated in Reference 10, where some energy-efficient communication strategies were introduced such that the following agent can track the state of the leader in an energy-efficient way. In Reference 11, a unified framework was proposed for the synchronization of complex networks and the consensus of MASs. More recent works on consensus of MASs have been reported, see, for example, References 12-19 for more details. Int J Robust Nonlinear Control. 2020;30:3039-3053. wileyonlinelibrary.com/journal/rnc

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Peritoneal metastasis is the leading cause of death for gastrointestinal cancers. The native and therapy-induced ascites ecosystems are not fully understood. Here, we characterize single-cell transcriptomes of 191,987 ascites cancer/immune cells from 35 patients with/without gastric cancer peritoneal metastasis (GCPM). During GCPM progression, an increase is seen of monocyte-like dendritic cells (DCs) that are pro-angiogenic with reduced antigen-presenting capacity and correlate with poor gastric cancer (GC) prognosis. We also describe the evolution of monocyte-like DCs and regulatory and proliferative T cells following therapy. Moreover, we track GC evolution, identifying high-plasticity GC clusters that exhibit a propensity to shift to a high-proliferative phenotype. Transitions occur via the recently described, autophagy-dependent plasticity program, paligenosis. Two autophagy-related genes (MARCKS and TXNIP) mark high-plasticity GC with poorer prognosis, and autophagy inhibitors induce apoptosis in patient-derived organoids. Our findings provide insights into the developmental trajectories of cancer/immune cells underlying GCPM progression and therapy resistance.

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