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

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.