Event-Triggered Bipartite Consensus of Multiagent Systems With Input Saturation and DoS Attacks Over Weighted Directed Networks

Abstract

This article studies bipartite consensus of multiagent systems (MASs) with input saturation and denial-of-service (DoS) attacks over weighted directed networks. First, a distributed control protocol is proposed by using low-gain technology to address the input saturation constraint. Then, an estimator is introduced to design a dynamic event-triggered communication protocol, which avoids continuous communication between agents. In addition, sufficient conditions for realizing bipartite security consensus are obtained under insecure communication networks with DoS attacks. Moreover, the dual-channel concept is considered to further save resources. An event-triggered controller protocol and a dynamic event-triggered communication protocol are designed in the communication channel and the controller–actuator channel, respectively. By considering an exponential threshold, the event-triggered controller protocol can operate stably when the control signal is minute. Thus, a novel dynamic event-triggered communication protocol is obtained to implement bipartite security consensus and exclude Zeno behavior. Finally, a practical example is presented to show the effectiveness of our design method.