Observer-based event-triggered control for linear MASs under a directed graph and DoS attacks

In this paper, we investigate the observer-based event-triggered consensus problem for linear multi-agent systems (MASs) under a directed graph and denial-of-service (DoS) attacks. A type of DoS attacks launched by malicious attackers at irregular intervals is considered, which can cause communication channel disruption. A novel event-triggered secure control scheme based on a closed-loop observer is proposed to determine the scheduling of the controller update, and a separation method with less conservativeness is employed to design the controller and observer gains. Then, the frequency and duration of DoS attacks that can be tolerated are analysed for the observer-based secure consensus problem. In addition, a strictly positive minimal event-triggered time interval for each agent is designed with the help of the proposed event-triggered condition to eliminate the Zeno behaviour. Finally, a numerical simulation is given to verify the theoretical analysis.