Resilient Synchronization of Networked Lagrangian Systems Over Event-Based Communication With Asynchronous DoS Attacks

A wide range of actual systems can be modeled as Euler- Lagrange dynamics, its inherently complex nonlinearities present additional difficulties in the design of control algorithms. In this paper, the distributed resilient synchronization control problem of networked Euler- Lagrange (E-L) systems under event-based communication with distributed denial-of-service (DoS) attacks is considered. A novel distributed dynamic event-triggered scheme is proposed to schedule the communication source under asynchronous DoS attacks on different channels. Then, a self-triggered scheme is designed to reduce the updating number of the control signals. Under the proposed adaptive control scheme, the asymptotic synchronization of the closed-loop system is guaranteed under DoS attacks. Neither the control strategy nor the dual-terminal event-triggered scheme needs the eigenvalue information of the Laplace matrix. Also, no Zeno behavior occurs under the proposed event-based control and communication framework. Finally, case studies are provided to show the effectiveness of the proposed method.