LAUSR

This article focuses on the leader-following consensus problem for a class of high-order uncertain nonlinear multiagent systems (MASs) subject to denial-of-service (DoS) attacks and actuator faults under the directed topology. To reduce the network communication bandwidth resource from the controller to the actuator and mitigate the adverse effect from DoS attacks, a novel event-triggered control strategy is proposed based on the reliable attack detection mechanism. The general attack detection mechanisms depend on the residuals between the values from the systems and observers. Different from the general attack detection mechanisms, a novel attack detection mechanism is proposed based on the logic relationship of voltage level signals which from the outputs of system components. Besides, the controller is designed based on the backstepping method and the controller can guarantee that the Zeno behavior is excluded. Furthermore, by using the Lyapunov stability theory, it proves that the controllers make the MASs achieve consensus. Eventually, a simulation example is presented to demonstrate the effectiveness of the proposed theoretical results.