Event-Triggered Secure Consensus of Stochastic Multi-Agent Systems: A Defense Scheme Against Bilateral False Data Injection Attacks

This paper investigates the event-triggered secure consensus problem for stochastic multi-agent systems (MASs) subject to bilateral false data injection attacks (FDIAs). To achieve reliable secure consensus while reducing resource consumption, an event-triggered defense scheme incorporated with a configurable waiting period is proposed. By introducing an adjustable time interval between consecutive trigger events, the developed scheme not only rigorously eliminates Zeno behavior but also alleviates the computational and sensing burdens. Notably, the analysis of event-triggered secure consensus for stochastic MASs is more challenging compared to conventional deterministic scenarios, due to the coupling effects of stochastic disturbances, event-triggered mechanisms, and bilateral FDIAs. To address this critical challenge, a stochastic convergence theorem is adopted in this study. Distinct from the traditional Lyapunov theorem for stochastic stability analysis, this theorem exhibits inherent similarities to the deterministic Barbalat lemma, which offers a more flexible analytical framework. A key advantage of the proposed approach is that it relaxes the positive definiteness constraint on the candidate Lyapunov function, thereby significantly enhancing the flexibility in constructing Lyapunov functions for stochastic MASs under bilateral FDIAs. Finally, two numerical simulation examples are presented to verify the correctness and effectiveness of the proposed control protocol and key theoretical results.