Dynamic Event-Triggered Secure Cooperative Control of Second-Order Nonlinear Multi-Agent Systems Under DoS Attacks

This paper investigates the secure cooperative control problem of second-order nonlinear multi-agent systems (MASs) under denial-of-service (DoS) attacks based on dynamic event-triggered schemes. First, a dynamic event-triggered control protocol is designed, which can adaptively adjust the triggering threshold according to the state information of MASs, it can also reduce the number of triggering times and save the communication resources. Then, based on the parameters of control protocol, intensity of DoS attacks, dynamics of MASs, and communication topologies, some sufficient conditions are derived for MASs to guarantee consensus under DoS attacks. In addition, it is proved that under the proposed dynamic event-triggered schemes and control protocol, the MASs can achieve consensus, and the event-triggered schemes can exclude Zeno behavior. Finally, numerical simulation example is presented to illustrate the effectiveness of the main results.