Distributed event-triggered consensus of multi-agent systems under periodic DoS jamming attacks

This paper is concerned with distributed event-triggered consensus of a generally linear multi-agent system subjected to periodic denial-of-service (DoS) jamming attacks. First, a novel switched time-varying delay system model is established to describe consensus error dynamics. By virtue of the switched system and time delay system approaches, one constraint is obtained as a tradeoff between exponential convergence rate of consensus error and uniform lower bound of sleep intervals of periodic DoS jamming attacks. Second, sufficient conditions are derived to guarantee exponential consensus of the multi-agent system. Third, a co-design method is presented to determine the parameters of both the distributed event-triggered mechanism and consensus protocol. Furthermore, an algorithm is given to find the allowable uniform lower bound of sleep intervals and suboptimal distributed event-triggering parameters. Finally, an illustrative example is provided to verify the effectiveness of the proposed resilient event-triggering consensus design method against periodic DoS jamming attacks. (C) 2019 Elsevier B.V. All rights reserved.