Fully distributed dynamic event-triggered consensus control for multi-agent systems under false data injection attacks

This paper studies the fully distributed consensus control for multi-agent systems subject to unknown false data injection (FDI) attacks. Considering the limited network bandwidth, a novel dynamic event-triggered (DET) scheme is proposed to further reduce unnecessary data transmission, in which an adaptive event-triggered threshold function is designed to improve the flexibility of the event-triggered condition. DET-based observers are designed to estimate the system state and attack information. Then, a fully distributed control protocol without using the global feature information of the multi-agent networks is proposed to offset the impact of the FDI attacks. Additionally, sufficient conditions are derived to guarantee consensus performance for multi-agent systems, and the Zeno behaviour is ruled out. Finally, the validity of the developed security control strategy is verified by simulation results.