| With the development and application of science and technology,multi-agent systems are widely used in daily life.Euler-Lagrange system belongs to a kind of complex nonlinear network system in multi-agent system,and is widely used in UAV formation control,robot formation control and so on.The study of Euler-Lagrange system is of great significance and value.Network attacks are an unavoidable problem in many systems.Network attacks may cause the communication information of multi-agent systems to be stolen and tampered with,which will lead to performance degradation of multi-agent systems and even failure to complete the expected tasks.Network attacks mainly include spoofing attacks and DoS attacks.Due to the low attack cost of DoS attack,the simple and easy operation and the effective attack effect,more and more hackers choose to use DoS attack to destroy.This paper studies consensus under DoS attack of leader-based Euler-Lagrange system.Aiming at the multi-Euler-Lagrange system under external DoS attack and possible communication time delay,the control algorithm is proposed and verified using two control strategies,time-triggered control and event-triggered control.The main work of this paper is as follows:First,when considering the communication between Euler-Lagrange systems,the sent data will not be transmitted normally due to DoS attacks.By using the properties of the two basic descriptions of DoS attacks,and considering its properties Effective DoS attack method,regard the information until the transmission is successful as the end of the DoS attack,and directly discard the attacked information to design the controller,and add the leader speed information estimation according to the actual problem,and finally make the Euler-Lagrange system in the It can maintain stability under a certain degree of DoS attack and eventually achieve consistent control.Second,in order to further reduce the energy consumption of the system,consider using an eventtriggered strategy,and the same part as the previous part is to add the estimation of the leader’s speed,and the different part is that in this part,it will not suffer Part of the attack information is discarded and the previous time value information is used,and the event-triggered controller is designed through the position information error and the estimated speed error,so that the Euler-Lagrange system can maintain a stable state under a certain degree of DoS attack.And ensure that the speed and position information between the follower and the leader is finally agreed.Third,a time delay is added in this part.Considering that the Euler-Lagrange system suffered a DoS attack during the data transmission process,and there was a communication time delay,the estimation of the leader is still used in this part.The speed controller is designed to obtain the conditions that can maintain the stability of the system and reach a consensus,ensuring that the system achieves the same speed and position information between the follower and the leader under a certain degree of time delay and DoS attack. |
