Lag Secure Consensus for Second-Order Nonlinear Multiagent Systems with Event-Triggered Control Strategy under DoS Attacks

Compared with previous studies, this paper focuses on the time delay phenomenon in the consensus state between the leader and followers and considers that the DoS attack occurs nonperiodically. First, a new event-triggered mechanism and lag consensus control strategy are proposed. Then, through the Lyapunov stability theory, algebraic knowledge, and graph theory, it is proved that followers and leader can achieve lag consistent under the DoS attack, and the trigger interval is designed to ensure that Zeno behavior does not occur. Finally, the correctness and effectiveness of the proposed theory and method are verified by numerical simulation.