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Firstly, a first-order nonlinear multi-agent system is constructed, which is divided into <jats:italic>M<\/jats:italic> subsystems and each subsystem has an unique leader. Then a protocol is proposed and a Lyapunov function candidate is chosen. By means of the stability theory, a sufficient criterion, which involves the duration of DoS attacks, coupling strength and control gain, is obtained for achieving group consensus in first-order system. That is, the nodes in each subsystem can track the leader of that group. Furthermore, the result is extended to nonlinear second-order multi-agent systems and the controller is also improved to obtain sufficient conditions for group consensus. Additionally, the lower bounds of the coupling strength and average interval of DoS attacks can be determined from the obtained sufficient conditions. Finally, several numerical simulations are presented to explain the effectiveness of the proposed controllers and the derived theoretical results.<\/jats:p>","DOI":"10.1007\/s11063-024-11630-z","type":"journal-article","created":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T19:01:31Z","timestamp":1715367691000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Pinning Group Consensus of Multi-agent Systems Under DoS Attacks"],"prefix":"10.1007","volume":"56","author":[{"given":"Qian","family":"Lang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huiwen","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhengxin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,5,10]]},"reference":[{"issue":"1","key":"11630_CR1","doi-asserted-by":"publisher","first-page":"2350005","DOI":"10.1142\/S0218126623500056","volume":"32","author":"M Zhou","year":"2023","unstructured":"Zhou M, Wang P, Ding Z, Liu Z, Niu J, Shen J, He L (2023) Cooperative autonomous driving for urban intersections assisted by vehicular sensor networks. 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