Distributed consensus control based on double event-triggered mechanism for multi-agent systems with irregular switching topologies under malicious attacks

This paper studies the consensus control of leader-following multi-agent systems (MASs) with irregular switching communication topology and time-varying delay under malicious attacks. The Markov stochastic process is used to describe the irregular switching of the communication topology caused by random factors, and it is verified that the communication protocol is still feasible when the communication channel is partially broken. At the same time, in order to filter out more efficient status signals and reduce the burden of network communication resources under malicious attacks, the double event-triggered mechanism (DETM) are adopted to make the number of state signals reaching the actuator much less and the state signals more efficient. Then, using the Lyapunov-Krasovskii functional (LKF) and integral inequality methods, the LKF contains the information of the lower bound of delay. Lastly, the stability criterion of MASs stochastic asymptotic consensus with time-varying delay is given, the gain of the consistent controller and the event triggered matrix parameters are solved by using the linear matrix inequality toolbox. Finally, four numerical simulations are given to verify that the MASs with irregular switching topology under malicious attacks can still achieve leader-following consensus.