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Design method of multi-agent system event trigger controller when DoS attack exists

A technology of event triggering and design methods, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to achieve consistent control, achieve great practical application value, reduce data volume, save computing and The effect of transferring energy

Active Publication Date: 2019-03-19
SHENYANG AEROSPACE UNIVERSITY
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Problems solved by technology

[0005] The purpose of the present invention is to propose an average dwell time method based on modal dependence, which is aimed at the design of a multi-agent system consistency event trigger controller, and solves the problem that the consistency control cannot be realized when there is a DoS attack between the leader and the follower in the past The problem

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  • Design method of multi-agent system event trigger controller when DoS attack exists
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  • Design method of multi-agent system event trigger controller when DoS attack exists

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Embodiment Construction

[0022] In order to make the technical implementation of the present invention clearer, a specific implementation is given below: the distributed event-triggered delivery strategy of the i-th follower of the present invention is as follows: figure 1 shown.

[0023] 1) Establish a leader-follower multi-agent system model and design event trigger conditions

[0024] Assume that the leader satisfies The kinetic equation of the i-th follower is

[0025]

[0026] in, N is the number of followers. The purpose of the present invention is to still achieve lim sup when there is a DoS attack t→∞ ||z(t)||≤δ, z(t)=col{z 1 (t), z 2 (t),... z N (t)}, z i (t)=x i (t)-x 0 (t).

[0027] For follower i, consider the following measurement error:

[0028]

[0029] in, Trigger the moment for the kth event of follower i. definition Select the following consistency control protocol

[0030]

[0031] Among them, matrix K is the feedback gain that needs to be designed.

[...

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Abstract

The invention relates to the technical field of networked control systems, in particular to a method for determining a consistent event trigger controller aiming at the condition that a multi-agent system with a leader has denial of service attack (DoS) by utilizing a modal dependent average residence time method, comprises the following steps of: step one, establishing a leader-follower multi-agent system model and a design event triggering condition; step two, establishing a DoS attack model and a switching system model; step 3, designing an event trigger controller and corresponding switching conditions. The average residence time method adopting modal dependence solves the design problem of the consistent event trigger controller in a leader-follower multi-agent system with DoS networkattack.

Description

technical field [0001] The invention relates to the technical field of networked control systems, and uses the average dwell time method of modal dependence to determine the consistency event for the denial-of-service attack (Denial-of-Service, DoS) situation in a multi-agent system with a leader The method that triggers the controller. Background technique [0002] Multi-agent system is an important research direction of network control system, and leader-follower system is an important research topic of multi-agent system, which has a wide range of practical application value, such as multi-unmanned formation control, swarm control, intelligent vehicle Formation control, etc. [0003] Due to the limited data processing ability of the agent, if there is too much data, the processing speed will be delayed or even cause network congestion. Therefore, it is of practical significance to take appropriate methods to reduce the calculation of data. Event trigger control provides...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘皓
Owner SHENYANG AEROSPACE UNIVERSITY
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