Event-Based Fixed-Time Secure Control for Multiagent Systems Under Distributed DoS Attacks

This article focuses on the leader–following consensus in fixed time for multiagent systems under denial-of-service (DoS) attacks. First, the node-based distributed DoS attack model is developed, where multiple adversaries launch different attack strategies working together on nodes of the system. Second, a novel fixed-time stability theorem is presented, where an index function is introduced to decrease the complexity of the stability condition and achieve the stability goal under node-based distributed DoS attacks. Third, based on this index function, the resilient dynamic event-triggered mechanism (DETM) is designed by utilizing the DoS attacks detection signals to reduce the consumption of computational costs and save the system resources. With the assistance of Lyapunov stability theory, some consensus conditions are established and the Zeno behavior is excluded. Finally, the autonomous swarm systems, including autonomous aerial vehicles and autonomous ground vehicles, are applied to illustrate the effectiveness of control strategy.

I. Introduction

Recently, the cooperative control of multiagent systems (MASs) has received increasing attention due to its ability to perform tasks that cannot be accomplished by single agent, evidenced by its wide range of applications, such as traffic control, intelligent robots, and power systems [1], [2]. Among cooperative control, consensus is one of the fundamental issues, including leaderness consensus and leader–following consensus. Specifically, the leader–following consensus refers to that the states of all followers' state tend to the leader's state by designing an ideal control strategy or algorithm. To date, there have been many fruitful results for the leader–following consensus of MASs in various application fields [3], [4].