Resilient Event-triggered Average Consensus Under Denial of Service Attack and Uncertain Network

Abstract

The paper investigates resilient conditions for the event-triggered average consensus problem under denial of service (DoS) attack and uncertainty in the network. To reach average consensus in the multiagent system, each node communicates with its neighbouring nodes only if an event-triggering condition is satisfied. In the presence of the DoS attack, no information can be communicated within the network. In addition to DoS, the information being transmitted through the communication channels is perturbed due to uncertainty in the nominally designed edge weights of the network. Using the Lyapunov theorem, we analytically determine the maximum allowable duration and frequency for the DoS attack and maximum network uncertainty for which the exponential event-triggered consensus convergence stays preserved. The practicability of the proposed event-triggering scheme is studied by proving the Zeno-behaviour exclusion. The performance of the implementation is quantified through simulations in different scenarios.