A Resilient Event-Triggered Control Scheme for Nonlinear Multi-Agent Systems Under Communication Delays and Denial-Of-Service Attacks

This paper investigates the resilient event-triggered control (ETC) for nonlinear multi-agent systems in the presence of communication delays and denial-of-service (DoS) attacks. The communication delays and asynchronous DoS attack are considered for each communication link. Based on sampling-receiving events and DoS attack events, flow and jump sets are formulated to describe the system's transmission time status. An independent event-triggering mechanism (ETM) is designed for each communication link. Furthermore, a resilient control scheme is constructed in which sufficient conditions for achieving system input-output stability are provided, including the constraints of frequency and DoS attack duration, the conditions of Lyapunov functions, and the maximally allowable transmission interval. Finally, the attitude cooperative control problem of multiple unmanned aerial vehicles (multi-UAVs) is adopted as a simulation example. The simulation results show the effectiveness of the proposed scheme.