Scaled consensus of heterogeneous multi-agent systems under asynchronous DoS attacks

This paper addresses the issue of scaled consensus in heterogeneous multi-agent systems (HMASs) under asynchronous Denial-of-Service (DoS) attacks. In the system structure, our exploration centers on the challenge of achieving scaled consensus in HMASs. The aim is to guarantee that the states of both first-order and second-order agents within the system reach predetermined scalar values, aligning with diverse real-world scenarios. Subsequently, the security of the system in directed communication topology under asynchronous DoS attack is also taken into account. To achieve above research objectives, an impulsive control scheme based on topology switching is proposed and a corresponding algorithm for determining the pulse moments based on the Floyd algorithm is devised. This scheme utilizes the topology switching caused by asynchronous DoS attacks as the driving force for impulsive control. Furthermore, leveraging the correlation property of random matrices, we derive the sufficient conditions for the system to achieve secure control. Finally, a numerical simulation is provided to validate the effectiveness of the protocol and the accuracy of conclusions.