Event-based leader–follower consensus of nonlinear multi-agent systems under denial-of-service

Abstract

This paper investigates the event-based secure leader-following consensus control for multiple strict feedback nonlinear systems under denial-of-service (DoS) attacks, where only the output signals are available for consensus control design. Observers are designed to estimate the unknown states based on output signals, which are blocked by the attacks. The bounds on the frequency and duration of DoS with respect to the overall time interval are characterized as the parameters for control design and stability analysis. It is shown that the proposed control schemes guarantee that the consensus errors of the multi-agent systems can converge to an adjustable compact set even in presence of DoS attacks. Simulation results are given to illustrate the effectiveness of the proposed algorithms.