Distributed edge-event-triggered consensus of multi-agent system under DoS attack

This paper designs a consensus control protocol for multi-agent systems(MAS) based on the edge-event-triggering mechanism to achieve a leader-following consensus under Denial-of-service (DoS) attacks. First, the dynamics model of the multi-agent system is given, and the DoS attack is modeled. A compensator is designed for each follower separately to keep tracking the state of the leader. In this paper, agents are classified into leaders, informed followers, and uninformed followers. The event-triggering conditions are designed separately. Then, the controller of each agent is designed using the difference between the state of the compensator and the agent state. Using the Lyapunov stability theory, the effectiveness of the designed control strategy under the DoS attack is analyzed, and the constraints on the control parameters are given. Additionally, we proved that the proposed control strategy could avoid the Zeno behavior. Finally, the effectiveness of the proposed control strategy is verified through numerical simulations.