Dynamic event‐triggered leader‐following bipartite consensus of second‐order multi‐agent systems under DoS attacks

Abstract This article investigates the bipartite secure consensus of the second‐order leader‐follower multi‐agent systems (MASs) against aperiodic denial of service (DoS) attacks. First, a new dynamic event‐triggered strategy is proposed for the consensus control. Compared with the static event‐triggered strategy, the dynamic event‐triggered protocol can reduce the trigger times and save resources by introducing an internal dynamic variable. Different from the secure consensus results which only discussed the cooperative links, based on the theory of the structurally balanced graph, this article considers cooperative and antagonistic interactions among agents simultaneously for complex behaviors of them. Besides, the characteristics of the DoS attacks are analyzed in detail and the secure consensus is achieved by utilizing the Lyapunov theory and inductive methods. Finally, the Zeno behavior is excluded and the availability of the designed algorithms is demonstrated by numerical simulations.