| In recent years,due to the widespread application of cooperative control technology,the collaborative control problem of multi-agent systems(MASs)has received extensive attention from scholars.In addition,with the development of networked control,MASs have begun to use networked control structures,which inevitably bring problems such as network packet loss,time delay,and network attacks,among which network attacks have the most serious impact on the system.Therefore,how to ensure the safe operation of MASs while completing various control tasks is a problem worthy of in-depth research.In this paper,we studied the tracking control and containment control problems of nonlinear systems and disturbed MASs under denial-of-service attacks,respectively.We designed elastic control schemes and fully distributed control schemes for denialof-service attacks,and the specific research contents are as follows:(1)For nonlinear MASs under denial-of-service attacks,we studied the eventtriggered tracking control problem based on observers.In order to overcome the influence of nonlinear terms,a neural network-based observer was introduced to estimate the unavailable system state.Then,a new type of distributed security controller was designed to successfully resist denial-of-service attacks while completing tracking control tasks.In addition,a new event-triggering mechanism was introduced to save communication resources,and it was theoretically proven that the mechanism does not exhibit Zeno behavior.Finally,the effectiveness of the proposed event-triggered elastic tracking control scheme based on neural network observers was verified by examples.(2)Based on the event-triggered strategy,the fully distributed output containment control problem of MASs was studied.Firstly,an adaptive dynamic event-triggering strategy was introduced to reduce unnecessary communication resource consumption,and it was rigorously proven that the mechanism does not exhibit Zeno behavior.Then,an output-based state observer was designed to estimate the unmeasurable system state.In addition,a fully distributed control scheme was proposed,which only uses the information of the agent’s neighbors to design the controller,observer,and eventtriggering mechanism.By constructing a new Lyapunov function,the sufficient conditions for ensuring the containment control performance of MASs were proven,and all followers will converge to the convex hull formed by the leaders.Finally,an actual physical example was used to illustrate that the designed control strategy can achieve control tasks and ensure the required containment control. |
