  A graph theoretic framework recently has been proposed to stabilize
interconnected multiagent systems in a distributed fashion, while
systematically capturing the architectural aspect of cyber-physical systems
with separate agent or physical layer and control or cyber layer. Based on that
development, in addition to the modeling uncertainties over the agent layer, we
consider a scenario where the control layer is subject to the denial of service
attacks. 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.
