Dynamic Quantized Consensus of General Linear Multi-agent Systems under Denial-of-Service Attacks

Abstract

In this paper, we study a multi-agent consensus problem under Denial-of-Service (DoS) attacks with data rate constraints. We consider leaderless consensus under an undirected communication graph and assume that the graph is connected in the absence of DoS. The dynamics of the agents take general forms modeled as homogeneous linear time-invariant systems. In our analysis, we derive specific bounds on the data rate for the multi-agent system to achieve consensus even in the presence of DoS attacks. The main contribution of the paper is the characterization of the trade-off between the tolerable DoS attack level and the required data rates for the communication among the agents. To avoid quantizer saturation under DoS attacks, we employ dynamic quantization with zoom-in and zoom-out capabilities.