Convergence rate of secure average consensus for multi-agent systems under periodic denial-of-service

This paper investigates the consensus convergence rate of multi-agent systems under periodic denial-of-service. The convergence rate of a system that switches between two subsystems periodically is studied first. Then, by utilizing results for the switched system, we offer estimates for the convergence rate of the secure average consensus for multi-agent systems under periodic denial-of-service. Compared with the traditional case without network attacks, it is shown that the rate of reaching average consensus under denial-of-service attacks is slowed, and the convergence rate is closely related to the attack time ratio. Two examples are provided to support the analysis.