On Event-Triggered Resilient Consensus Using Auxiliary Layer

TL;DR

This paper proposes an event-triggered inter-layer communication scheme for resilient consensus in multi-agent systems, reducing communication load while ensuring robustness against false data injection attacks.

Contribution

It introduces state-based and dynamic event-triggering mechanisms for auxiliary layer communication, addressing the overlooked issue of communication burden in resilient control.

Findings

Event-triggered mechanisms effectively reduce communication frequency.

Positive minimum inter-event time (MIET) prevents Zeno behavior.

Simulations and experiments validate the approach's robustness and efficiency.

Abstract

Due to its design simplicity, auxiliary layer-based resilient control is widely discussed in the literature to mitigate the effects of False Data Injection (FDI) attacks. However, the increased communication burden due to additional communication links for connecting an extra layer is often overlooked in the literature. This paper bridges this gap by considering an event-triggered approach for inter-layer communication between the physical layer (containing actual agents) and the auxiliary layer (containing virtual agents) for the resilient state consensus in a multi-agent system. We provide state-based and dynamic event-triggering mechanisms, the former being the motivation for the latter. The exclusion of Zeno behavior is established by proving positive minimum inter-event time (MIET). Extensive simulation and experimental results are provided to illustrate the proposed methodology.