Impulsive Consensus of MASs with Input Saturation and DoS Attacks

This paper investigates the secure impulsive consensus of Lipschitz-type nonlinear multi-agent systems (MASs) with input saturation. According to the coupling of input saturation and denial of service (DoS) attacks, impulsive control for MASs becomes extremely challenging. Considering general DoS attacks, this paper provides the sufficient conditions for the almost sure consensus of the MASs with input saturation, where the error system can achieve almost sure local exponential stability. Through linear matrix inequalities (LMIs), the relation between the trajectory boundary and DoS attacks is characterized, and the trajectory boundary is estimated. Furthermore, an optimization method of the domain of attraction is proposed to maximize the size. And a non-conservative and practical boundary is proposed to characterize the effect of DoS attacks on MASs. Finally, considering a multi-agent system with typical Chua's circuit dynamic model, an example is provided to illustrate the theorems' correctness.