Dynamic Event-Triggered Cluster Consensus for Multiagent Systems Under DoS Attacks With Antagonistic Interactions

In this article, we investigate the cluster consensus problem of multiagent systems (MASs) with general linear dynamics and weighted antagonistic interactions under aperiodic denial-of-service (DoS) attacks. First, an event-triggered communication mechanism is designed to efficiently reduce unnecessary message transmission over unreliable networks, where the event-triggered function with dynamically varying thresholds is designed based on the state estimators instead of the real-time states so that continuous communication can be avoided both in controller updates and triggering threshold detection. Then, a novel event-triggered cluster consensus protocol is designed for MASs with DoS attacks and structurally balanced signed digraphs, where Zeno behavior can be strictly excluded by the proposed triggering mechanism. Furthermore, to cope with the structurally unbalanced signed digraph, an improved event-triggered resilient consensus protocol is developed by introducing a pinning control strategy. By utilizing the piecewise Lyapunov functional approach, some sufficient conditions are derived for the cluster consensus under structurally balanced and unbalanced signed digraphs, while the selection principles of event-triggered parameters and resilient controller gains are obtained. Finally, the validity of the theoretical results is verified by practical simulation examples.