Leader-following secure consensus for second-order multi-agent systems with nonlinear dynamics and event-triggered control strategy under DoS attack

Abstract Denial-of-Service (DoS) attack is one of the major threats in network. The goal of DoS attacks is to make the target agent or network cannot provide normal service. However, the cooperative control of nonlinear multi-agent systems (MASs) subject to DoS attack is not well understood. This paper investigates the leader-follower secure consensus for second-order MAS with nonlinear dynamics and event-triggered control strategy under DoS attacks. A novel secure controller is proposed by using event-triggered control scheme. Based on the proposed controller, the upper bounds of the length rate, frequency of DoS attack and parameters conditions of controller are obtained to ensure that the tracking errors between the follower and leader converge to zero under DoS attack. Besides, the Zeno behavior can be excluded due to the trigger interval is designed to be greater than zero. Finally, a numerical example is presented to demonstrate the correctness of the theoretical analysis.