Dynamic Event-Triggered Consensus of Multi-Agent Systems under DoS Attacks: Dual-terminal Asynchronous Control

This paper discusses the consensus issue of multi-agent systems (MASs) under Denial-of-Service (DoS) attacks, with primary contributions focusing on adaptive control input adjustment and event-triggered strategies to maintain control efficacy while reducing communication demands. A dual-terminal asynchronous dynamic event-triggered (DET) strategy is devised to decrease controller updates through coordinated measurement and control channel triggering mechanisms. On the basis of this, each agent independently transmits its state data to neighboring agents based on edge-based triggering functions, ensuring asynchronous communication within the network. In addition, the error in the triggering conditions is substituted by the observer's estimation of the actual states when addressing DoS attacks. By systematically analyzing the duration and frequency characteristics of DoS attacks, several stability conditions for MASs under attacks are established. Finally, an example is given to prove the effectiveness of the proposed method.