Event‐Triggered Resilient Consensus of Nonlinear Cyber‐Physical Systems Under Multi‐Frequency Attacks Over Communication Channels

ABSTRACT

The event‐triggered resilient consensus is discussed in this paper for nonlinear cyber‐physical systems under malicious attacks. Unlike existing achievements, the considered multi‐frequency attacks inject distinct malicious signals into different communication channels, and a piecewise time‐varying function is introduced to effectively characterize attack behaviors. To mitigate the impact of attacks, a novel distributed compensator is firstly established using the relative output information affected by attacks. Meanwhile, a triggering mechanism free of continuous detection is designed to simultaneously avert control updates and persistent inter‐agent communication. Then, by combining the gain control technique, the triggering mechanism and compensator states, a non‐iterative resilient control protocol is proposed to realize consensus while resisting multi‐frequency attacks. Particularly, the proposed control protocol not only exhibits high flexibility and low conservatism but also eliminates restrictions on the upper bound of sampling period. Further, the control design is extended to group consensus cases through artful state transformations. Ultimately, the simulation of liquid level control resonant circuit systems is presented to corroborate theoretical results.