Adaptive bipartite consensus event-triggered control of multi-agent system with DoS attack based on generational partition

The event-triggered group consistency problem of a class of second-order multi-agent systems (MASs) under denial of service attacks (DoS) is studied. The main contribution lies in the proposed group generation partition algorithm for multi-agents with directed network topology, which successfully solves the problem of multi-task assignment in complex networks. Then, the algorithm transforms the adjacency matrix into a standard diagonal type to reduce the algorithm complexity. A new adaptive event triggering mechanism (ETM) is designed using a fuzzy logic system for the directed network. The trigger threshold is adjusted by the relative motion trajectory between adjacent agents, the output feedback error of the agents, and the adaptive parameters of the fuzzy logic system, which can reduce the communication burden. Finally, the Lyapunov stability theory is used to prove the asymptotic stability and consistency of the closed-loop system, and the effectiveness of the proposed algorithm is verified by two simulation examples.