Consensus Analysis for Cooperative-Competitive Multiagent Systems Under False Data Injection Attacks via Dynamic Event-Triggered Observers

Distributed secure control is investigated for cooperative-competitive multiagent systems suffered from false data injection attacks (FDIAs) via event-triggered observers. Attack signals are injected into controller-to-actuator channels. A static event-triggered control is first presented, then an auxiliary-variable-based dynamic event-triggered control is further put forward. The dynamic event-triggered control ensures fewer triggering instants and the dynamic variable plays a significant part in the exclusion of Zeno-behavior. Then based on estimated states and attacks calculated by observers, distributed controllers are proposed to resist attacks. Bipartite consensus is ensured in multiagent systems and corresponding sufficient conditions are obtained. Meanwhile, the Zeno-behaviors are proven to be nonexistent. Finally, theoretical analyses are explained by simulations.