  This article proposes a secure implementation for consensus using a dynamic
event-triggered (DET) communication scheme in high-order nonlinear multi-agent
systems (MAS) under asynchronous (distributed) denial of service (DoS) attacks.
By introducing a linear auxiliary trajectory of the system, the DET data
transmission scheme among the neighboring agents is employed to reduce the
communication for each agent. The asynchronous DoS attacks can block each
communication channel among the cooperative agents independently in an unknown
pattern. To guarantee state consensus of auxiliary MAS under DoS, a linear
matrix inequality (LMI) based optimization approach is proposed which
simultaneously designs all the unknown DET communication parameters as well as
the state feedback control gain. In addition to asynchronous DoS attacks over
the graph topology, the destructive effects of independent DoS attacks over the
communication links between actual and auxiliary states are compensated as an
additional layer of resiliency for the system. The output of each agent
ultimately tracks the auxiliary state of the system and this results in the
output consensus.
