网络化多智能体系统基于无线通信网络传输信息，往往存在通信时滞。当今网络的高度开放性使通信网络易遭受各种恶意攻击。DoS攻击是实际中攻击范围最广、最容易实现、攻击效果最为严重的资源耗尽型网络攻击，极大影响甚至破坏系统性能。本项目以DoS攻击与通信时滞并存的非线性网络化多智能体系统为研究对象，研究其基于事件触发机制的一致性补偿控制。首先建立面向DoS攻击与通信时滞的分布式事件触发通信机制，节约通信资源的利用。在此基础上设计基于预测控制方法的一致性补偿控制协议，主动补偿DoS攻击以及通信时滞对一致性性能的负面影响。综合考虑系统的模型不确定性、DoS攻击的具体攻击模式、对网络时滞的数学假设，提出新的一致性闭环系统建模方法，给出DoS攻击参数、事件触发参数、时滞上界以及控制反馈增益参数的联合设计准则。搭建实验平台对理论结果进行仿真验证。本项目的研究有助于为一致性的实际工程应用提供更好的理论依据。

The networked multi-agent system transmits information based on the wireless communication network，there always exists communication delays. Nowadays, the high openness of the network makes it vulnerable to all kinds of malicious attacks. However, the DoS attack is the most extensive and easy to implement in practice and it is resource-exhausted network attack, which has the most serious attack effect, greatly affects and even destroys the performance of the system. This project takes the nonlinear networked multi-agent system with DoS attacks and communication delays as the research object, and studies the consensus compensation control problem based on event triggering mechanism. Firstly, a distributed event triggered communication mechanism faces to DoS attacks and communication delays is established to save the utilization of communication resources. Considering the model uncertainty of the system, the specific type of DoS attack and the mathematical hypothesis of network delays, a new modeling method of uniform closed-loop system is proposed. The jointed design criteria for the DoS attack parameters, the event triggering parameters, the upper bound of time delays and the control feedback gain parameters are given. We will build an experimental platform to verify the theoretical results. The research of this project is helpful to provide a better theoretical basis for practical application of consensus.