Secure Consensus of Multiagent Systems With Input Saturation and Distributed Multiple DoS Attacks

The secure consensus problem of multiagent systems with input saturation and denial-of-service (DoS) attacks constraints is an interesting research problem. To solve this problem, the assumptions that all the agents own the same saturation level and suffer the same DoS attacks from a single adversary are usually made. This brief removes the above assumptions and investigates the secure consensus problem of multiagent systems with different saturation levels and multiple DoS attacks. The studied multiagent systems have different layers, in which different saturation levels are studied for different layers. Moreover, the DoS attacks are launched from different adversaries and will cause different effects for different agents. To achieve the desired objective, two different consensus protocols for agents in different levels are first designed using the low-gain technique. Then, the investigated dynamic system under DoS attacks is modeled by a switched system by categorizing the DoS attacks into several types. The controller is proposed by solving parametric algebraic Riccati equation (ARE). Sufficient conditions for the DoS attack duration on each channel are derived.