Dynamic Quantized Leader-follower Consensus under Denial-of-Service Attacks

This paper investigates the multi-agent leader-follower consensus problem under Denial-of-Service (DoS) attacks with data rate constraints. In our analysis, we first derive a lower bound on the data rate for the leader-follower consensus problem, which can guarantee the quantizers of the leader and followers do not overflow at any time, even in the presence of DoS attacks. The main contribution of the paper is the characterization of the trade-off between the tolerable DoS attack levels for leader-follower consensus and the required data rates for the quantizers during the communication attempts among the agents. To mitigate the influence of DoS attacks, we employ dynamic quantization mechanism with scale-up and scale-down capabilities. This paper also reveals the another trade-off between the data rate for the leader state quantization and the one for the follower state quantization. This makes saving the overall communication load and maintaining the resilience possible.