Fault-Tolerant Periodic Event-Triggered Consensus Under Communication Delay and Multiple Attacks

This article proposes a resilient strategy for leaderless and leader–following consensus in general linear multiagent systems under simultaneous presence of false data injection and denial-of-service (DoS) attacks. To save energy, local control updates and communication between the neighboring agents are based on a distributed periodic event-triggered scheme. Sufficient conditions to guarantee the exponential mean square bounded consensus are derived as linear matrix inequality (LMI) conditions obtained from some delay-dependent Lyapunov–Krasovskii functionals. The proposed design framework computes the required consensus control gain based on a desired level of resilience to DoS. The guaranteed level of resilience in our proposed LMI-based method is less conservative (more realistic) compared to the existing analytical solutions. Two physical constraints, namely nonuniform time-varying communication delay and actuator faults, are also included in the problem formulation to enhance the practicability of the proposed solution. Simulations results demonstrate the effectiveness of the proposed framework in the presence of the considered cyberthreats and physical constraints.