Observer-based output feedback event-triggered bounded consensus of multi-agent systems under DoS attacks

Abstract

This paper is concerned with observer-based output feedback event-triggered bounded consensus problem for linear multi-agent systems. The original multi-agent systems are transformed into the switched systems due to DoS attacks, the fast switching is applied to multi-agent systems with DoS attacks, and slow switching is applied to multi-agent systems with no DoS attacks. A novel mode-dependent dynamic event-triggered scheme and a distributed mode-dependent control protocol are proposed by using the relative output, which include some existing results as special cases. It is shown that bounded consensus can be achieved if each agent is both stabilizable and detectable, the appropriate mode-dependent average dwell time and the co-designed feedback matrices are chosen. Two algorithms are also provided to obtain the lower consensus bound. The above results are also extended to undirected topology. Finally, our theoretical results can be verified by two simulation examples.