Event-triggered bipartite consensus to heterogeneous multiagent systems under DoS attacks: A fully distributed method

This paper studies event-triggered bipartite output consensus problem of heterogeneous multiagent systems under denial-of-service (DoS) attacks. A novel dynamic event-triggered scheme (DETS) is proposed, which, by introducing an extra dynamic function with time-varying coefficients into triggering conditions, can guarantee strictly positive minimum inter-event intervals no matter DoS attacks occur or not. An event-based resilient compensator with adaptive coupling coefficients is then designed to estimate leader's state, and a hybrid model with jump dynamics is constructed that can incorporate the estimation error, DETS, and DoS attacks, and is useful for convergence analysis. Then, a fully distributed observer-based control protocol is designed to regulate the bipartite output consensus. The main advantages of the proposed method include: 1) global information is not needed to implement the event-based control protocol; 2) strictly positive inter-event intervals are guaranteed even under DoS attacks. Finally, a numerical example is presented to testify the main results.