Abstract
In this paper, the event-based triggering method is adopted to investigate the secure consensus issue of multiple autonomous underwater vehicles (AUVs) under denial-of-service (DoS) attacks. DoS attack is a form of time-sequence-based cyber attack, which can destroy the normal service of the control target or network. First, based on an event-triggered mechanism, a novel secure control protocol is proposed. Second, the upper bounds of attack duration and attack frequency are given to ensure that multiple AUVs under DoS attacks can reach consensus. Third, an event-triggered mechanism with exponential variables is developed to avoid the continuous update of the controller, thereby reducing the burdens of communication and calculation. Zeno behavior can be strictly ruled out for each AUV under this triggering mechanism. Finally, the simulation results illustrate the feasibility of the proposed scheme.
Highlights
Collaborative control of multi-agent systems has become a hot research field because of its wide application in various fields, such as the formation of robots, unmanned vehicles, and surface ships [2,3,4,5,6]
The main goal of multiple autonomous underwater vehicles (AUVs) consensus is to design control protocols based on the local information of the neighbors of the AUV to ensure that the states of all AUVs reach consensus [7,8,9]
In [9,14,15,16,17], the trajectory tracking issue of AUVs with disturbances under different conditions was studied by the sliding mode control method
Summary
Collaborative control of multi-agent systems has become a hot research field because of its wide application in various fields, such as the formation of robots, unmanned vehicles, and surface ships [2,3,4,5,6]. In [30, 32,33], the consensus of linear multi-agent systems under DoS attack based on event-triggered mechanism was studied. The secure consensus problem of multiple AUVs under DoS attacks is worth studying. Motivated by the above discussions, this paper is the first to investigate the consensus problem of multiple AUVs under DoS attacks based on the event-triggered mechanism. The DoS attack scheme is applied to secure consensus controller design of multiple AUVs under the event-triggered mechanism. This attack scheme is originally proposed in [30] to solve the consensus problem of the linear systems. Λmax(H)(λmin(H)) is introduced to represent the maximum (minimum) eigenvalues of the matrix H. diag {} denotes a diagonal matrix
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