Event-triggering-based leader-following bounded consensus of multi-agent systems under DoS attacks

Abstract

This paper studies the leader-following bounded consensus problem for multi-agent systems (MAS) in the present of denial-of-service (DoS) attacks by means of event-triggered control strategy. Due to the existence of DoS attacks, the original system is transformed into a switched system with both stable and unstable modes. Moreover, DoS attacks can be characterized by frequency and duration constraints under which the bounded consensus can be still guaranteed. It is shown that the duration constraint can be replaced by choosing appropriate mode-dependent average dwell time (MDADT) for each subsystem. In order to obtain a smaller consensus bound and feedback gain matrices simultaneously, an optimization approach is proposed. In addition, the Zeno behavior that may be introduced by event-triggered control is excluded. Finally, a numerical example is provided to illustrate the bounded consensus can be still achieved under the co-designed event-triggered control strategy despite the presence of DoS attacks.