Containment Control of Nonlinear Multi-Agent Systems with Input Saturation Under DoS Attacks via Dynamic Event-Triggered Mechanism

This paper investigates the design of dynamic event-triggered strategy for nonlinear multi-agent systems (MASs) with input saturation and multiple leaders under denial-of-service (DoS) attacks. To achieve containment control objective, eventtriggered controller is jointly synthesized with dynamic event-triggering mechanism (DETM). Theoretical analysis demonstrates that the proposed event-triggered control strategy solves containment problem and guarantee the Zeno-freeness of nonlinear multi-agent systems in the presence of input saturation and DoS attacks. Different from the existing results of static eventtriggered mechanisms (SETM), DETM with an internal dynamic variable is developed and the frequency of events is reduced. Finally, the efficiency of design is verified by simulation example.