Resilient consensus of nonlinear MASs under DoS attacks: Event-triggered and self-triggered impulsive control strategies

This paper addresses the resilient consensus problem for nonlinear multi-agent systems (MASs) under DoS attacks. By leveraging acknowledgment (ACK) signals, we develop resilient algorithms to identify successfully transmitted impulse control signals and estimate the effective duration of DoS attacks. To reduce information transmission and control costs, an event-triggered impulsive control (ETIC) scheme is designed to schedule impulse inputs and achieve the resilient consensus of nonlinear MASs. To further eliminate the need for real-time monitoring of triggering conditions, a novel self-triggered impulsive control (STIC) scheme is introduced. Compared to existing STIC methods, the proposed self-triggered mechanism (STM) imposes no constraints on inter-impulse intervals, avoids complex implicit formulations, and does not rely on comparison systems, offering greater flexibility and ease of implementation. Furthermore, we extend our framework to scenarios with impulse delays by developing both event-triggered delay impulsive control (ETDIC) and self-triggered delay impulsive control (STDIC) strategies. Finally, the effectiveness of our proposed strategies is validated through numerical simulations.