Event-Based Secure Consensus Control for Multirobot Systems With Cooperative Localization Against DoS Attacks

In this article, we investigate the secure consensus control problem for multirobot systems with event-triggered communication strategy under aperiodic energy-limited denial-of-service (DoS) attacks, where DoS attacks prevent the transmission of information between robots. Each robot is equipped with onboard sensors to estimate its position cooperatively by taking relative measurements and exchanging the local positioning information with other robots through the unreliable communication network. In the meantime, each robot determines its consensus control based on transmitted position estimates and steers the robot to the desired consensus position. Therefore, our goal is to design a secure control scheme for each robot based on cooperative localization with an event-triggered mechanism and obtain a sufficient condition for the upper bound of duration and the maximum number of attacks such that $N$ robots can move to the desired secure consensus position in the presence of DoS attacks. Finally, simulation and experimental results are presented to show the effectiveness of obtained theoretical results.