Event-based consensus control for multi-agent systems against joint sensor and actuator attacks

The paper focuses on the observer-based consensus control issue for a class of discrete-time multi-agent systems suffering from the joint actuator and sensor attacks. An event-triggered communication rule with the adaptive threshold update is introduced to reduce the communication burden. A PI-type controller with a finite-time window integral loop is constructed to achieve bounded consensus in the mean-square sense (BCMS). With the help of common properties of Laplace matrices, the closed-loop multi-agent system is converted into an easy-to-analyze pattern. In light of such a pattern, a sufficient condition is derived to realize the desired consensus by the stochastic analysis. Furthermore, the expected gains of the controller and the observer are determined by resorting to matrix inequalities in combination with the cone complementarity linearization algorithm. Finally, a numerical example and a simulation of the platooning vehicle are proposed to illustrate the effectiveness of the proposed control scheme.