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.