Fixed-time consensus of second-order multi-agent systems based on event-triggered mechanism under DoS attacks

This paper investigates fixed-time consensus (FXTC) for second-order nonlinear multi-agent systems under denial of service (DoS) attacks using event-triggered control. First, consensus in second-order nonlinear multi-agent systems with directed topologies is studied under a static event-triggered mechanism. Building upon this, dynamic auxiliary variables are introduced, and a dynamic event-triggered mechanism is designed. Consensus control protocols are proposed for both leader-follower and leaderless scenarios. Using Lyapunov stability theory and algebraic graph theory, the fixed-time consensus of multi-agent systems with directed topologies under DoS attacks is analyzed. Furthermore, Zeno behavior is excluded. Finally, numerical examples are presented to validate the theoretical results.