Event-Based Fixed-Time Secure Cooperative Control for Nonlinear Cyber-Physical Systems Under Denial-of-Service Attacks

This article investigates the problem of the fixed-time secure cooperative control for a class of nonlinear cyber-physical systems under denial-of-service (DoS) attacks. First of all, an event-based data transmission scheme is proposed to solve the fixed-time secure leader-following consensus in the occurrence of connective-preserved DoS attacks. Besides, a novel measurement error is developed to avoid Zeno behavior. However, the initial communication topology may inevitably be disconnected by malicious adversaries. To solve this difficulty, a new fixed-time secure observer is designed to estimate the leader information. Moreover, a self-triggered control strategy is proposed, which not only avoids the continuous communication but also restores the secure leader-following consensus subject to connective-preserved/broken DoS attacks. Then, the characteristic of the allowable connective-preserved/broken DoS attacks can be obtained. Finally, simulation results show the effectiveness of the proposed method.