Dual-channel event-triggered consensus of multi-agent systems under DoS attacks over switching topologies

In this paper, a dual-channel event-triggered control (ETC) protocol with a state estimator is designed in multi-agent systems with switching topologies under denial-of-service attacks. Firstly, an ETC protocol and a dynamic ETC protocol are designed in the communication channel and the controller–actuator channel, respectively. Different from the traditional single-channel ETC, the dual-channel ETC is designed to further save resources. Second, an estimator is introduced to avoid continuous communication between agents. The sufficient conditions for realizing consensus are obtained under denial-of-service attacks. Moreover, due to the unstable communication topology of multi-agent systems, we designed a distributed controller based on switching topologies. Finally, the feasibility of the proposed method is verified through numerical simulations.