Cooperative Tracking of Nonlinear Multi-Agent Systems Under DoS Attacks

The focus of this research is on the cooperative tracking of second-order nonlinear multi-agent systems (MASs) subjected to denial-of-service (DoS) attacks. For reducing the influence of DoS attacks, a distributed secure strategy with state compensation is proposed. Firstly, the state compensation is designed to replace the combined states during the attack period. Meanwhile, sufficient conditions associated with the frequency and the length rate of DoS attacks are obtained to assure that the system is controllable. Lastly, the efficacy of the decentralized protocol is validated by a numerical experiment.