Resilient Event-Triggered Containment Control of Multiagent Systems Under Asynchronous DoS Attacks and Disturbances

The distributed event-triggered controller is proposed for the containment control of linear multiagent systems under asynchronous denial of service (DoS) cyber-attacks and external disturbances. Using disturbance observer, event-triggered containment control under DoS attacks and disturbance is guaranteed. It is assumed that separate attacks occurred on the control channels and the communication channels. Moreover, when effective DoS attacks occur, it becomes impossible to communicate data through a communication network, and if the DoS attack is ineffective, the topology graph has a united directed spanning tree. Our method does not require the continuous sharing of state information between neighboring agents; rather, at event times, information is sent to reduce the consumption of communication resources. Using state estimators, trigger times are determined according to the estimator's data without any continuous information of the neighbor's state. Using accurate analysis of the time and frequency of DoS attacks, the resilient conditions are obtained, and then, exponential stability of containment behavior under asynchronous attacks is proved by Lyapunov analysis. Moreover, the obtained strictly positive minimal interevent time for agents prevents Zeno behavior. Finally, the performance of the proposed method is shown by simulation.