Dynamic Event-Triggered Scaled Consensus of Multi-Agent Systems in Reliable and Unreliable Networks

This article is concerned with the problem of dynamic event-triggered (DET) scaled consensus control for multi-agent systems (MASs) in reliable and unreliable networks. First, by introducing an auxiliary dynamic variable (ADV) obeying its own dynamics, a novel DET mechanism is designed. A nonzero exponentially decaying term is introduced in the DET scheme to enlarge the interval between two consecutive trigger instants. In reliable networks, the DET mechanism works with a set of fixed parameters for the nonzero exponentially decaying term. Second, by introducing a stochastic variable into the parameters to describe the uncertain denial-of-service (DoS) attacks, a resilient DET mechanism is proposed. In unreliable networks, the resilient DET mechanism adjusts the set of parameters between two sets of values by detecting the launch of DoS attacks. Then, by choosing suitable Lyapunov–Krasovskii functions (LKFs), some stability criteria are derived for scaled consensus of MASs both in reliable and unreliable networks. Based on the stability criteria expressed in matrix inequalities, a control design algorithm based on genetic algorithm (GA) is proposed to calculate the control gains and event trigger parameters jointly. Finally, the effectiveness of the results is verified via a numerical example of multiple two-wheel mobile vehicles.