Secure Distributed Control for Consensus of Multiple EL Systems Subject to DoS Attacks
针对遭受拒绝服务攻击的多欧拉-拉格朗日系统，提出一种结合分布式采样数据控制和自适应控制的联合协议，利用非负可微函数性质推导出无领导者一致性条件，并通过双连杆机器人仿真验证有效性。
Under the framework of multiagent systems (MASs), this article is focused on the leaderless consensus of multiple Euler–Lagrange (EL) systems subject to denial-of-service (DoS) attacks. First, a new joint control protocol, which combines the distributed sampled-data (SD) control and adaptive distributed control (DC), is designed. The distributed SD control is equipped with logic processors, which can capture key information of DoS attacks, and the adaptive DC is conducive to relaxing some generally required constraint conditions. Second, a new property of a non-negative differentiable function is proposed, which is very helpful in solving the distributed SD control issue of multiple EL systems. Third, by setting up a <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\textbf{W}$</tex-math> </inline-formula> -dependent Lyapunov–Krasovskii functional (LKF) and utilizing the property of the non-negative differentiable function, new leaderless consensus results are derived for multiple EL systems with DoS attacks. The obtained leaderless consensus results are in the shape of linear matrix inequalities (LMIs) and can efficiently counter the influence of the DoS attacks. Ultimately, the effectiveness of the derived results is inspected by an MAS with multiple two-linked robot manipulators.