Prescribed-Time Containment Control for Multiple Euler–Lagrange Systems Against DoS Attacks

This article discusses the prescribed-time containment control problem of multiple Euler-Lagrange systems (MELSs) under denial-of-service (DoS) attacks. First, for the case of multiple static leaders, the resilient control laws are constructed to drive all followers into the convex hull generated by the trajectories of leaders within a prescribed time under DoS attacks. Then, for the case of multiple dynamic leaders, the new prescribed-time observer is designed to estimate the state of each follower, thereby achieving containment control for MELSs under DoS attacks. Compared with the existing works where the settling time relies on global information or the initial conditions of systems, the developed prescribed-time containment control schemes are entirely decoupled from global information and system parameters. Finally, two numerical simulations are provided to verify the validity of the developed resilient prescribed-time containment control strategies.