Event-Triggered Distributed Stabilization of Interconnected Multiagent Systems with Abnormal Agent and Control Layers

A graph theoretic framework recently has been proposed for the robust distributed stabilization of interconnected multiagent systems, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or physical layer and control or cyber layer. We consider a scenario where the control layer faces a series of centralized denial of service attacks, and the agent layer is subject to the modeling uncertainties. We propose a step-by-step procedure to design a control layer that, in the presence of the aforementioned abnormalities, guarantees a level of robustness and resiliency for the final two-layer interconnected multiagent system. The incorporation of an event-triggered strategy further ensures an effective use of the limited energy and communication resources over the control layer. We theoretically prove the resilient, robust, and Zeno-free convergence of all state trajectories to the origin and, via a simulation study, discuss the feasibility of the proposed ideas.