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This work presents a rigorous analysis of the adverse effects ofcyber-physical attacks on the performance of multi-agent consensus withevent-triggered control protocols. It is shown how a strategic malicious attackon sensors and actuators can deceive the triggering condition of bothstate-based event-triggered mechanism and combinational state-basedevent-triggered mechanism, which are commonplace and widely used in theliterature. More precisely, it is first shown that a deception attack in thecase of combinational state-based event-triggered mechanism can result in anon-triggering misbehavior, in the sense that the compromised agent does nottrigger any event and consequently results in partial feedback disconnectivityby preventing information from reaching the local neighbors of the compromisedagent. This indicates that the combinational state-based event-triggeredmechanism can be leveraged by the attacker to harm the network connectivity byrendering the recent data unavailable to agents. It is then shown that thedeception attack in the case of state-based event-triggered mechanism canresult in a continuous-triggering misbehavior in the sense that theevent-triggered mechanism continuously generates triggering events resulting inundesirable phenomenon of Zeno behavior. Finally, numerical simulations arepresented to illustrate the theoretical findings.

Performance Analysis of Event-Triggered Consensus Control for Multi-agent Systems under Cyber-Physical Attacks