Secure Event-Triggered Tracking Consensus Under Denial of Service: A Resilient Periodically Intermittent Approach

The proposed resilient method in this letter aims at achieving the tracking consensus for a network of uncertain nonlinear multi-agent systems (MASs) subject to denial of service (DoS) attack. By introducing local linear auxiliary systems, the event-triggered (ET) rules for data transmission among cooperative agents is derived to realize the tracking consensus. Meanwhile the DoS attack attempts to block all the communication links between the interconnected followers. Then, a periodically intermittent control input is designed such that each agent follows the trajectory of the corresponding local auxiliary system. In addition to DoS, by proposing a periodically intermittent control scheme the destructive effects of failure in physical measuring devices or unreliability of local channels are compensated as an additional layer of resiliency for the system. The proposed method in this letter not only makes the design more resilient to DoS attacks and local failure, but also is more cost efficient compared to the existing results. The simulation experiments finally quantify the effectiveness of our proposed approach in terms of reducing the burden of data transmission and providing a resilient performance under DoS attacks and unreliability of local channels.