Secure bipartite consensus of leader–follower multi-agent systems under denial-of-service attacks via observer-based dynamic event-triggered control

This paper investigates secure bipartite consensus (SBC) control problems of leader–follower multi-agent systems (MASs) subjected to denial-of-service (DoS) attacks via observer-based dynamic event-triggered control (DETC). An observer-based DETC protocol with two combining measurements (follower–follower and follower–leader) is first proposed corresponding to valid DoS attack intervals and valid safe intervals. It is concluded that the SBC of MASs without input saturation can be achieved via the observer-based DETC protocol under a signed directed graph if some sufficient inequality conditions hold. And the Zeno behavior can be excluded. Then, a resembling result corresponding to a signed undirected graph is obtained. Furthermore, by using low-gain feedback technic, the semi-global SBC issue under a saturated controller is also considered. Finally, a numerical simulation and two application simulations are displayed to illustrate the effectiveness of the proposed control protocol.