Distributed secure average consensus for linear multi-agent systems under DoS attacks

This paper studies event-triggered secure cooperative control of linear multi-agent systems under Denial-of-Service (DoS) attacks. The DoS attacks refer to interruptions of communication on the control channels carried out by an intelligent adversary. We consider time-sequence-based DoS attacks allowed to occur aperiodically in an unknown attack strategy. The frequency and duration of DoS attacks are analyzed and investigated for a secure average consensus problem. A distributed event-triggered control law is developed and scheduling of controller updating times is determined in the presence of DoS attacks. It is shown that under the proposed distributed control scheme, the agents can achieve secure consensus exponentially. The effectiveness of the developed methods is illustrated through example and numerical simulations on multi-robot coordination.