{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T07:37:00Z","timestamp":1783409820074,"version":"3.54.6"},"reference-count":41,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100010256","name":"Guangzhou Municipal Science and Technology Project","doi-asserted-by":"publisher","award":["2024404T9895"],"award-info":[{"award-number":["2024404T9895"]}],"id":[{"id":"10.13039\/501100010256","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100014881","name":"Guangzhou University","doi-asserted-by":"publisher","award":["JCCX2025047"],"award-info":[{"award-number":["JCCX2025047"]}],"id":[{"id":"10.13039\/501100014881","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["2024A1515012326"],"award-info":[{"award-number":["2024A1515012326"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003453","name":"Natural Science Foundation of Guangdong Province","doi-asserted-by":"publisher","award":["2025A1515012109"],"award-info":[{"award-number":["2025A1515012109"]}],"id":[{"id":"10.13039\/501100003453","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Information Sciences"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.ins.2026.123564","type":"journal-article","created":{"date-parts":[[2026,4,28]],"date-time":"2026-04-28T23:02:59Z","timestamp":1777417379000},"page":"123564","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":1,"special_numbering":"C","title":["Event-triggered formation control for nonlinear multi-agent systems subject to DoS attacks and actuator faults"],"prefix":"10.1016","volume":"751","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4766-6216","authenticated-orcid":false,"given":"Jianhui","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiarui","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yonghua","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kairui","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhi","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"C.L.Philip","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"7","key":"10.1016\/j.ins.2026.123564_bib0005","doi-asserted-by":"crossref","first-page":"877","DOI":"10.1002\/rob.21601","article-title":"Exploiting spatial locality and heterogeneity of agents for search and rescue teamwork*","volume":"33","author":"Parker","year":"2016","journal-title":"J. Field Robot."},{"issue":"5","key":"10.1016\/j.ins.2026.123564_bib0010","doi-asserted-by":"crossref","first-page":"1236","DOI":"10.1109\/TCST.2011.2167331","article-title":"Control of multiple UAVs for persistent surveillance: algorithm and flight test results","volume":"20","author":"Nigam","year":"2012","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"10.1016\/j.ins.2026.123564_bib0015","doi-asserted-by":"crossref","first-page":"158","DOI":"10.1016\/j.ast.2018.10.027","article-title":"Cooperative load transportation using multiple UAVs","volume":"84","author":"Shirani","year":"2019","journal-title":"Aerosp. Sci. Technol."},{"issue":"5","key":"10.1016\/j.ins.2026.123564_bib0020","doi-asserted-by":"crossref","first-page":"944","DOI":"10.2514\/1.G006608","article-title":"Multi-quadrotor distributed load transportation for autonomous agriculture spraying operations","volume":"45","author":"Hegde","year":"2022","journal-title":"J. Guid. Control Dyn."},{"issue":"4","key":"10.1016\/j.ins.2026.123564_bib0025","doi-asserted-by":"crossref","first-page":"1416","DOI":"10.3390\/s21041416","article-title":"Formation tracking control for multi-agent networks with fixed time convergence via terminal sliding mode control approach","volume":"21","author":"Xu","year":"2021","journal-title":"Sensors"},{"issue":"5","key":"10.1016\/j.ins.2026.123564_bib0030","doi-asserted-by":"crossref","first-page":"1302","DOI":"10.1109\/TFUZZ.2021.3057987","article-title":"Observer-based fixed-time adaptive fuzzy bipartite containment control for multiagent systems with unknown hysteresis","volume":"30","author":"Wu","year":"2022","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"10.1016\/j.ins.2026.123564_bib0035","doi-asserted-by":"crossref","first-page":"506","DOI":"10.1016\/j.neucom.2020.10.074","article-title":"Observer-based adaptive fixed-time formation control for multi-agent systems with unknown uncertainties","volume":"423","author":"Xiong","year":"2021","journal-title":"Neurocomputing"},{"key":"10.1016\/j.ins.2026.123564_bib0040","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1016\/j.neucom.2021.08.081","article-title":"Fixed-time adaptive observer-based time-varying formation control for multi-agent systems with directed topologies","volume":"463","author":"Xiong","year":"2021","journal-title":"Neurocomputing"},{"key":"10.1016\/j.ins.2026.123564_bib0045","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1016\/j.ins.2021.02.071","article-title":"Fixed-time time-varying formation tracking for nonlinear multi-agent systems under event-triggered mechanism","volume":"564","author":"Cai","year":"2021","journal-title":"Inf. Sci."},{"issue":"9","key":"10.1016\/j.ins.2026.123564_bib0050","doi-asserted-by":"crossref","first-page":"5867","DOI":"10.1109\/TSMC.2019.2957530","article-title":"Adaptive event-triggered and double-quantized consensus of leader\u2013follower multiagent systems with semi-markovian jump parameters","volume":"51","author":"Gong","year":"2021","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"8","key":"10.1016\/j.ins.2026.123564_bib0055","doi-asserted-by":"crossref","first-page":"1440","DOI":"10.1109\/JAS.2021.1004386","article-title":"Consensus control of multi-agent systems using fault-estimation-in-the-loop: dynamic event-triggered case","volume":"9","author":"Ju","year":"2022","journal-title":"IEEE\/CAA J. Autom. Sin."},{"issue":"11","key":"10.1016\/j.ins.2026.123564_bib0060","doi-asserted-by":"crossref","first-page":"6206","DOI":"10.1109\/TNNLS.2021.3072784","article-title":"Neural adaptive self-triggered control for uncertain nonlinear systems with input hysteresis","volume":"33","author":"Wang","year":"2022","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"10.1016\/j.ins.2026.123564_bib0065","doi-asserted-by":"crossref","first-page":"256","DOI":"10.1016\/j.ins.2023.02.058","article-title":"Adaptive neural self-triggered bipartite secure control for nonlinear MASs subject to DoS attacks","volume":"631","author":"Cheng","year":"2023","journal-title":"Inf. Sci."},{"issue":"1","key":"10.1016\/j.ins.2026.123564_bib0070","doi-asserted-by":"crossref","first-page":"574","DOI":"10.1007\/s40815-021-01164-0","article-title":"Disturbance observer-based fuzzy adaptive containment control of nonlinear multi-agent systems with input quantization","volume":"24","author":"Li","year":"2022","journal-title":"Int. J. Fuzzy Syst."},{"issue":"9","key":"10.1016\/j.ins.2026.123564_bib0075","doi-asserted-by":"crossref","first-page":"625","DOI":"10.1016\/j.sysconle.2008.12.007","article-title":"Adaptive quantized control for nonlinear uncertain systems","volume":"58","author":"Hayakawa","year":"2009","journal-title":"Syst. Control Lett."},{"issue":"9","key":"10.1016\/j.ins.2026.123564_bib0080","doi-asserted-by":"crossref","first-page":"1574","DOI":"10.1109\/JAS.2022.105800","article-title":"Adaptive consensus quantized control for a class of high-order nonlinear multi-agent systems with input hysteresis and full state constraints","volume":"9","author":"Zhu","year":"2022","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"10.1016\/j.ins.2026.123564_bib0085","doi-asserted-by":"crossref","first-page":"187623","DOI":"10.1109\/ACCESS.2020.3030282","article-title":"Adaptive fuzzy finite-time tracking control of uncertain non-affine multi-agent systems with input quantization","volume":"8","author":"Fan","year":"2020","journal-title":"IEEE Access"},{"issue":"3","key":"10.1016\/j.ins.2026.123564_bib0090","doi-asserted-by":"crossref","first-page":"769","DOI":"10.1007\/s12555-020-0283-2","article-title":"Adaptive finite-time consensus for second-order nonlinear multi-agent systems with input quantization","volume":"20","author":"Ren","year":"2022","journal-title":"International Journal of Control, Automation and Systems"},{"issue":"4","key":"10.1016\/j.ins.2026.123564_bib0095","doi-asserted-by":"crossref","first-page":"5608","DOI":"10.1109\/JSYST.2021.3116035","article-title":"Antagonistic interactions-based adaptive event-triggered bipartite consensus quantized control for stochastic multiagent systems","volume":"16","author":"Liu","year":"2022","journal-title":"IEEE Syst. J."},{"key":"10.1016\/j.ins.2026.123564_bib0100","first-page":"1","article-title":"Anti-attack event-triggered control for nonlinear multi-agent systems with input quantization","author":"Xu","year":"2022","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"7","key":"10.1016\/j.ins.2026.123564_bib0105","first-page":"3264","article-title":"A fully distributed robust secure consensus protocol for linear multi-agent systems","volume":"69","author":"Wang","year":"2022","journal-title":"IEEE Transactions on Circuits and Systems II: Express Briefs"},{"issue":"8","key":"10.1016\/j.ins.2026.123564_bib0110","doi-asserted-by":"crossref","first-page":"3391","DOI":"10.1109\/TCSI.2022.3168163","article-title":"Adaptive formation for multiagent systems subject to denial-of-service attacks","volume":"69","author":"Pan","year":"2022","journal-title":"IEEE Trans. Circuits Syst. I Regul. Pap."},{"issue":"1","key":"10.1016\/j.ins.2026.123564_bib0115","doi-asserted-by":"crossref","first-page":"452","DOI":"10.1109\/TAC.2020.2979936","article-title":"Event-based formation control for nonlinear multiagent systems under DOS attacks","volume":"66","author":"Tang","year":"2021","journal-title":"IEEE Trans. Autom. Control"},{"issue":"2","key":"10.1016\/j.ins.2026.123564_bib0120","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1080\/00207179.2022.2140311","article-title":"Event-triggered consensus control of multi-agent systems under denial-of-service jamming attacks","volume":"97","author":"Xiong","year":"2024","journal-title":"Int. J. Control"},{"issue":"10","key":"10.1016\/j.ins.2026.123564_bib0125","doi-asserted-by":"crossref","first-page":"2272","DOI":"10.1177\/0142331221994378","article-title":"Event-triggered consensus control of second-order nonlinear multi-agent systems under denial-of-service attacks","volume":"43","author":"Shang","year":"2021","journal-title":"Trans. Inst. Meas. Control"},{"issue":"3","key":"10.1016\/j.ins.2026.123564_bib0130","doi-asserted-by":"crossref","first-page":"1169","DOI":"10.1109\/TNNLS.2021.3105006","article-title":"Resilient output synchronization of heterogeneous multiagent systems with DoS attacks under distributed event-\/self-triggered control","volume":"34","author":"Du","year":"2023","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"10.1016\/j.ins.2026.123564_bib0135","doi-asserted-by":"crossref","DOI":"10.1016\/j.nahs.2022.101155","article-title":"Impulsive consensus of nonlinear fuzzy multi-agent systems under DoS attack","volume":"44","author":"Ma","year":"2022","journal-title":"Nonlinear Anal. Hybrid Syst."},{"key":"10.1016\/j.ins.2026.123564_bib0140","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1016\/j.automatica.2019.01.013","article-title":"Distributed adaptive fault-tolerant control approach to cooperative output regulation for linear multi-agent systems","volume":"103","author":"Deng","year":"2019","journal-title":"Automatica"},{"issue":"1","key":"10.1016\/j.ins.2026.123564_bib0145","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1109\/JAS.2020.1003596","article-title":"Human-in-the-loop consensus control for nonlinear multi-agent systems with actuator faults","volume":"9","author":"Lin","year":"2022","journal-title":"IEEE\/CAA J. Autom. Sin."},{"issue":"5","key":"10.1016\/j.ins.2026.123564_bib0150","doi-asserted-by":"crossref","first-page":"1921","DOI":"10.1109\/TCYB.2019.2901542","article-title":"Fault-tolerant consensus tracking control for linear multiagent systems under switching directed network","volume":"50","author":"Wang","year":"2020","journal-title":"IEEE Trans. Cybern."},{"issue":"16","key":"10.1016\/j.ins.2026.123564_bib0155","doi-asserted-by":"crossref","first-page":"3027","DOI":"10.1080\/00207721.2023.2268235","article-title":"Input\u2013output finite-time stabilisation for periodic piecewise polynomial systems with nonlinear actuator faults: an observer-based approach","volume":"54","author":"Sakthivel","year":"2023","journal-title":"Int. J. Syst. Sci."},{"issue":"5","key":"10.1016\/j.ins.2026.123564_bib0160","doi-asserted-by":"crossref","first-page":"1605","DOI":"10.1109\/TCYB.2018.2805167","article-title":"Adaptive sliding mode consensus tracking for second-order nonlinear multiagent systems with actuator faults","volume":"49","author":"Qin","year":"2019","journal-title":"IEEE Trans. Cybern."},{"issue":"9","key":"10.1016\/j.ins.2026.123564_bib0165","doi-asserted-by":"crossref","first-page":"1759","DOI":"10.1109\/TSMC.2018.2883907","article-title":"Cooperative adaptive event-triggered control for multiagent systems with actuator failures","volume":"49","author":"Zhang","year":"2019","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"8","key":"10.1016\/j.ins.2026.123564_bib0170","doi-asserted-by":"crossref","first-page":"2664","DOI":"10.1007\/s12555-019-0732-y","article-title":"Event-triggered sliding mode fault-tolerant consensus for a class of leader-follower multi-agent systems","volume":"19","author":"Zheng","year":"2021","journal-title":"International Journal of Control, Automation and Systems"},{"issue":"3","key":"10.1016\/j.ins.2026.123564_bib0175","first-page":"1149","article-title":"Event-triggered cooperative output regulation of heterogeneous multi-agent systems with adaptive fault-tolerant control","volume":"69","author":"Xu","year":"2022","journal-title":"IEEE Transactions on Circuits and Systems II: Express Briefs"},{"issue":"12","key":"10.1016\/j.ins.2026.123564_bib0180","doi-asserted-by":"crossref","first-page":"3812","DOI":"10.1109\/TFUZZ.2020.3028657","article-title":"Fuzzy adaptive event-triggered secure control for stochastic nonlinear high-order MASs subject to DoS attacks and actuator faults","volume":"29","author":"Shao","year":"2021","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"10.1016\/j.ins.2026.123564_bib0185","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1016\/j.fss.2015.07.012","article-title":"Fuzzy adaptive quantized output feedback tracking control for switched nonlinear systems with input quantization","volume":"290","author":"Sui","year":"2016","journal-title":"Fuzzy Sets Syst."},{"issue":"11","key":"10.1016\/j.ins.2026.123564_bib0190","doi-asserted-by":"crossref","first-page":"2930","DOI":"10.1109\/TAC.2015.2416924","article-title":"Input-to-state stabilizing control under denial-of-service","volume":"60","author":"De Persis","year":"2015","journal-title":"IEEE Trans. Autom. Control"},{"key":"10.1016\/j.ins.2026.123564_bib0195","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1016\/j.automatica.2015.01.041","article-title":"Decentralized adaptive tracking control for a class of interconnected nonlinear time-varying systems","volume":"54","author":"Wang","year":"2015","journal-title":"Automatica"},{"issue":"7","key":"10.1016\/j.ins.2026.123564_bib0200","doi-asserted-by":"crossref","first-page":"7206","DOI":"10.1109\/TCYB.2020.3035779","article-title":"Event-triggered fuzzy adaptive fixed-time tracking control for nonlinear systems","volume":"52","author":"Hu","year":"2022","journal-title":"IEEE Trans. Cybern."},{"issue":"10","key":"10.1016\/j.ins.2026.123564_bib0205","doi-asserted-by":"crossref","first-page":"3003","DOI":"10.1109\/TFUZZ.2020.3010643","article-title":"Event-based adaptive fuzzy asymptotic tracking control of uncertain nonlinear systems","volume":"29","author":"Li","year":"2021","journal-title":"IEEE Trans. Fuzzy Syst."}],"container-title":["Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0020025526004950?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0020025526004950?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,3]],"date-time":"2026-07-03T15:51:19Z","timestamp":1783093879000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0020025526004950"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":41,"alternative-id":["S0020025526004950"],"URL":"https:\/\/doi.org\/10.1016\/j.ins.2026.123564","relation":{},"ISSN":["0020-0255"],"issn-type":[{"value":"0020-0255","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Event-triggered formation control for nonlinear multi-agent systems subject to DoS attacks and actuator faults","name":"articletitle","label":"Article Title"},{"value":"Information Sciences","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.ins.2026.123564","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier Inc. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"123564"}}