Fully distributed protocol for multi-agent systems with dynamic event-triggered communication under DoS attacks

Denial-of-service (DoS) attacks pose a major challenge to reliable leader-following coordination in linear multi-agent systems. To address this issue, an adaptive dynamic event-triggered protocol is developed. Specifically, the proposed protocol is fully distributed, requires no global topology information, and operates without a global coordinate frame by using only relative state information. Furthermore, a dynamically evolving auxiliary variable is introduced into the triggering condition to enlarge inter-event intervals and reduce the communication burden. Moreover, Lyapunov-based analysis shows that the proposed protocol achieves exponential leader-following consensus in the absence of external disturbances, while in the presence of external disturbances, the consensus error remains bounded with minor modifications to the adaptive law. Finally, simulation results verify the effectiveness of the proposed method.