A Secure Dynamic Event-Triggered Mechanism for Resilient Control of Multi-Agent Systems Under Sensor and Actuator Attacks

Abstract

Information exchanges among interacting agents play a significant role in guaranteeing successful completion of the desired coordinated control tasks for a multi-agent system (MAS). Furthermore, these information exchanges are often performed over some open and resource-constrained communication networks, thereby making security and resource efficiency vitally important for various multi-agent coordinated control problems. This paper addresses a secure dynamic event-trigger-based resilient consensus control problem for an MAS in the presence of both sensor and actuator attacks. First, a distributed adaptive compensator is introduced for prediction of unavailable system states. Due to the existence of sensor and actuator attack signals, a secure dynamic event-triggered mechanism is then proposed, and a resilient control strategy is further devised for the paralyzed MAS. It is theoretically proved that the controlled MAS is asymptotically stable and asymptotic consensus is eventually achieved among the coordinated agents regardless of the attacks and constrained resources. Finally, three examples are provided to illustrate the effectiveness of the proposed strategy.