Detection-based compound event-triggered secure control for nonlinear multiagent systems

This paper designs a distributed dynamic-detection-based event-triggered control method to address the secure tracking control problem. A distributed online iterative dynamic detection mechanism is designed to detect denial-of-service (DoS) attacks. The detection results are transmitted into a proposed ET method to adjust the triggering threshold, which can mitigate the impact of DoS attacks. Moreover, the signals of state, observations of disturbance observers and adaptive laws are calculated to generate the trigger signals in the control signal simultaneously, which can help conserve communication resources and reduce the occurrence of pulse phenomenon. Meanwhile, since the predictor exists certain prediction errors that will reduce the tracking performance, a speed function is introduced to ensure the achievement of the control objective. The designed solution guarantees semiglobally uniformly ultimately bounded for all signals within the closed-loop system. Finally, the effectiveness of control scheme is demonstrated through several simulation results.