Leader-following consensus of multiple uncertain Euler-Lagrange systems under denial-of-service attacks

In this thesis, we investigate a novel problem of security performance and consensus of multiple uncertain Euler-Lagrange systems (ELSs) under denial-of-service (DoS) attacks. First, we address how to make the system still function properly when the communication channel is cut off with intermittent DOS attacks by means of an event-triggered mechanism. At the same time, due to the uncertainty of the system there, we introduce an exosystem to generate signals so that the global information can be observed normally by distributed observers. Then, ELSs can be consensus while still ensuring its security. Furthermore, on the basis of this adaptive distributed observer functioning in the system, the problem for multiple ELSs of leader-following consensus is solved by using the Lyapunov method and the deterministic equivalence principle. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed strategies.