Secure Dynamic Event-Based Consensus for Networked Multi-Agent Systems Subject to Distributed DoS Attacks

This paper addresses the secure leader-following consensus problem in networked multi-agent systems (MASs) subjected to distributed DoS attacks. We propose a robust consensus protocol, leveraging dual-terminal dynamic event-triggering mechanisms (DETMs), to ensure secure consensus in compromised systems. Attackers can launch asynchronous, ape-riodic DoS attacks on different communication channels within the MAS. The validity of a distributed DoS attack is defined by its ability to disrupt the communication topology's connectivity. By implementing two DETMs in each agent, both communication and control update frequencies are reduced, thereby conserving control energy and communication resources. Additionally, we in-troduce a secure hybrid update law to maintain secure consensus under distributed DoS attacks. Theoretical analysis confirms that the proposed protocol guarantees asymptotically stable leader-following consensus, given that the duration and frequency of valid attacks are constrained, and no agent exhibits Zeno behavior. Numerical simulations are provided to demonstrate the effectiveness of the proposed protocol.