Event-triggered resilient control of nonlinear multi-agent systems with disturbances under DoS attacks and directed switching topologies

This paper addresses the issue of resilient event-triggered consensus control for nonlinear multi-agent systems (MASs) operating in non-ideal communication networks. Specifically, it focuses on the challenges posed by directed switching topologies, disturbances and denial-of-service (DoS) attacks. A new approach is introduced to study the consensus tracking problem with a dynamic leader. The proposed strategy utilises a resilient event-triggered consensus tracking control framework, which comprises an event-triggered controller (ETC) and an event-triggering mechanism (ETM). By establishing matrix inequalities and considering parameters associated with DoS attacks and average dwell time, sufficient conditions for solving (Formula presented.) consensus tracking problem are derived. One characteristic of the designed ETM is that events only occur at the triggering or switching time, preventing Zeno behaviour. Furthermore, a resilient event-triggered control strategy is suggested to tackle the containment problem with multiple dynamic leaders. Finally, the effectiveness of the designed control strategies is demonstrated through numerical simulations.