Event-triggered flocking control of multi-agent systems in presence of cyber attacks

We propose an event-triggered control system for multi-agent systems with the double-integrator network to achieve resilient flocking behavior in the presence of cyberattacks. The method can manage connectivity and increase the robustness of the topology graph via a three-state hybrid control. Each state of hybrid control has a distinct triggering condition. The developed event-triggered update rules can mitigate the influence of the noncooperative agents using the weighted mean subsequence reduced algorithm and reduce unnecessary communication among them. As a result, the performance of the system can effectively improve. Convergence of the velocity and orientation of the agents is guaranteed by using this type of control structure and resilient consensus protocol. We assume that the bound on the number of noncooperative agents in the neighbor sets of cooperative agents is known. The proposed scheme with the event-triggering rules can avoid Zeno behaviors inherently. Finally, a simulation example is worked out to demonstrate the effectiveness of the proposed approach.