Event-Triggered Bipartite Consensus Control for Uncertain Heterogeneous Multiagent Systems under DoS Attacks

In this article, we investigate the bipartite output consensus problem of heterogeneous linear multiagent systems (MASs) with norm-bounded parameter uncertainties and antagonistic interactions under aperiodic denial-of-service (DoS) attacks. First, a fully distributed edge-based event-triggered communication mechanism is designed for each communication link to efficiently reduce unnecessary message transmission over unreliable networks, without relying on global topology and absolute state information. Then, based on the distributed dynamical compensators and the celebrated internal model principle, a resilient bipartite consensus protocol is designed for uncertain heterogeneous MASs under DoS attacks. It is demonstrated that under the proposed control strategy, all agents asymptotically achieve bipartite output consensus determined by the consensus states of the dynamical compensators. Meanwhile, the strictly positive minimum event-interval is provided for each communication link. Finally, the validity of the proposed protocol is demonstrated through numerical simulations on a heterogeneous spacecraft formation system.