Consensus and attack-decomposition of switched one-sided Lipschitz multi-agent systems via event-triggered intermittent control

Abstract

This paper considers the exponential consensus of nonlinear switched multi-agent systems (MASs) subject to random attacks. The proposed model is enhanced by introducing the concept of mode-dependent average dwell time (MDADT) and the one-sided Lipschitz (OSL) condition, making it more practical and versatile with relaxed restrictions. Due to the unavailability of direct access to the states of MASs and the vulnerability of their output signals to unknown random attacks, achieving consensus through traditional methods becomes challenging. Hence, a novel attack-decomposition approach is proposed to extract the attack-free output signals from the attacked output signals. Then, the observer is constructed by utilizing attack-free output signals and employed to estimate the states of MASs. A mode-dependent event-triggering mechanism is presented to conserve resources for the observer-controller channels. In order to save control costs, the intermittent control scheme is designed for different switching modes whose control width depends on the minimum dwell time. Finally, an illustrative example is used to showcase the advantages of the theoretical method.