Consensus of Multi-Agent Systems with DoS Attacks and Actuator Faults: A Double-Layer Event-Triggered Control Approach

This paper investigates the consensus problem of multi-agent systems (MAS) subject to denial-of-service (DoS) attacks and actuator faults. For the aim of decreasing the communication frequency among agents, we first design a novel double-layer event-triggering mechanism (DLETM) with inherently joint characteristic¹, the first layer ETM only works inside an agent and serves second layer ETM, and network information transmission is activated by the second layer ETM. In addition, resilient triggering conditions related to DoS attack status are constructed. Then, an iterative observer is developed to estimate the actuator faults, it is formally shown that the estimation errors converge as iteration number increases. For consensus analysis and DLETM design, a novel Lyapunov function with inverse trigonometric function is constructed to overcome the limitation of existing Lyapunov function, based on which, sufficient stability conditions are provided for the MAS under DoS attacks and faults. Finally, we verify the performance of the proposed approach using a simulation example.