近年来，随着信息物理系统和互联网技术的快速发展，网络安全控制已成为控制领域最重要的研究方向之一。然而，针对多智能体网络控制系统而言，相关的研究工作还没有得到开展。鉴于此，本项目拟从节约通讯资源的角度出发，设计事件触发控制方案研究面向异步DoS攻击的非线性多智能体系统协同输出调节问题。首先，本项目拟基于内模原理将相应的协同输出调节问题转化为面向异步DoS攻击的非线性增广多智能体系统稳定性问题。然后，依据ISS李亚普诺夫函数分析理论，结合DoS攻击模型，设计全局分布式事件触发控制方案镇定增广多智能体系统，从而实现面向异步DoS攻击的非线性多智能体系统协同输出调节。在此基础上，本项目将进一步研究面向异步DoS攻击的非线性多智能体系统协同群输出调节问题，并依据课题组的多无人机协同控制平台实验验证所提控制方案的有效性，从而推动多智能体系统安全协同控制理论的研究与发展。

In recent years, with the rapid development of cyber-physical system and internet technology, network security control has become one of the most important research directions in the control field. However, for multi-agent network control systems, the related research work has not yet been carried out. Aiming at the nonlinear multi-agent network control system under asynchronous DoS attacks, in order to save communication resources, this project will design a distributed event-triggered control scheme to study the corresponding cooperative output regulation problem. Firstly, based on the internal model principle, this project intends to convert the corresponding cooperative output regulation problem into the stability problem for nonlinear augmented multi-agent systems under asynchronous DoS attacks. Then, combining the ISS Lyapunov theory with DoS attacks model, a distributed event-triggered control scheme is proposed to stabilize the above augmented multi-agent system, and realize the cooperative output regulation for nonlinear multi-agent systems under asynchronous DoS attacks. On the basis of the above results, the project will further study the cooperative group output regulation problem for nonlinear multi-agent systems under asynchronous DoS attacks. Finally, the effectiveness of the proposed control scheme will be verified by the multi-UAV collaborative control platform in the research group. And the above works will promote the research and development of safety cooperative control theory of multi-agent systems.