Secure Consensus of Uncertain Nonlinear Second-Order Multi-Agent Systems Under DoS Attacks: Impulsive Estimator Approach.

The secure consensus under denial-of-service (DoS) attacks for uncertain nonlinear second-order multi-agent systems (MASs) has been investigated in this brief. A hierarchical control strategy consisting of an impulsive estimator and a local controller is proposed to estimate the leader information and observe the uncertainty of the system in order to realize secure consensus. To realize the goal, some sufficient conditions that are easily satisfied are obtained by impulsive system theory, input-to-stable theory and step-function method. Eventually, we use a single link robotic arm system to validate the feasibility of the proposed control strategy.