Event-triggered fully distributed bipartite containment control for multi-agent systems under DoS attacks and external disturbances

This study investigates bipartite containment control algorithm for multi-agent systems which are vulnerable to DoS attacks and external disturbances. Disturbances are generated via a series of exogenous nonlinear systems with a one-sided Lipschitz condition. To estimate unknown system states and external disturbances, a set of decentralized state observers and disturbance observers is proposed. Then a fully distributed control protocol is adopted to avoid the utilization of global information. An attack compensator is introduced to mitigate the adverse impacts of DoS attacks. Furthermore, Zeno-free dynamic event-triggered mechanisms that do not require continuous communication between neighboring agents are presented to conserve limited communication resources. In the end, satellite flight systems are introduced to illustrate the feasibility of the designed control scheme.