Secure Consensus for Second-Order Multi-Agent Systems Under Asynchronous DoS Attacks

This paper investigates the secure tracking control problem for second-order multi-agent system (MAS) with nonlinear dynamics through the event-triggered mechanism. The MAS is subject to asynchronous denial-of-service (DoS) attacks, the communication topology of the MAS switches among the topologies under different attack situations. The MAS is modeled as a switched system with stable and unstable subsystems. A mode-dependent average dwell time (MDADT) approach is used to constrain the DoS attacks. Then, by utilizing the Lyapunov function approach, secure controller and event-triggered function are co-designed to achieve the consensus of MAS subject to attacks. A simulation example is given to demonstrate the correctness of the results.