Distributed Consensus of Lipschitz Nonlinear Multiagent Networks Under DoS Attacks: A Strict Zeno-Free Event-Triggered Approach

Aiming to address the distributed consensus issues for Lipschitz nonlinear multiagent systems suffering from DoS attacks, this work develops a novel distributed event-triggered secure control (DETSC) schemes that achieve leader-follower consensus with fully distributed, strict Zeno-free manners. First, a distributed secure control scheme is proposed. A novel adaptive couple parameter, two kinds of state observers, and the distributed event-triggered mechanism working in tandem with the control scheme are further raised. For the elimination of global information reliance, the adaptive couple parameter with exponential term is designed, which helps in classifying Lyapunov function behavior separately in attack and normal intervals. Zeno behavior is excluded strictly by designing the upper limit and decay rate of the event-triggered function (ETF). By constructing a Lyapunov function incorporating both the exponential term and decay rate of the ETF, the time blocking caused by DoS attacks in stability analysis is overcome. Zeno-freeness analysis gives the strict positive minimum inter-event interval. Finally, the capability of the proposed DETSC scheme is tried out through the numerical simulations on a group of single-joint robotic arms.