Leader-Following Secure Consensus of Multi-agent Systems Based on Event-Triggered Control Under Recoverable Attacks

Aiming at the situation that multi-agent system is vulnerable to network attack threat in open communication environment, the secure consensus problem with a leader is investigated in this paper. Consider a frequently recoverable attack in which the communication topology breaks down and system control signals cannot be entered. A dynamic event triggered mechanism is designed by introducing auxiliary variables, which can be dynamically adjusted according to the status update of itself and neighboring agents. In order to avoid the continuous information exchange between the following agents, a collaborative design scheme of estimator and distributed dynamic event triggering is proposed, which effectively extends the trigger time interval to exclude Zeno behavior. Simulation results verify the effectiveness of the proposed control method.