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Networked microgrids with high penetration of distributed generators haveubiquitous remote information exchange, which may be exposed to various cybersecurity threats. This paper, for the first time, addresses a consensus problemin terms of frequency synchronisation in networked microgrids subject tomulti-layer denial of service (DoS) attacks, which could simultaneously affectcommunication, measurement and control actuation channels. A unified notion ofPersistency-of-Data-Flow (PoDF) is proposed to characterise the dataunavailability in different information network links, and further quantifiesthe multi-layer DoS effects on the hierarchical system. With PoDF, we provide asufficient condition of the DoS attacks under which the consensus can bepreserved with the proposed edge-based self-triggered distributed controlframework. In addition, to mitigate the conservativeness of offline designagainst the worst-case attack across all agents, an online self-adaptive schemeof the control parameters is developed to fully utilise the latest availableinformation of all data transmission channels. Finally, the effectiveness ofthe proposed cyber-resilient self-triggered distributed control is verified byrepresentative case studies.

Cyber-Resilient Self-Triggered Distributed Control of Networked Microgrids Against Multi-Layer DoS Attacks