Consensus of Heterogeneous Multiagent Networks Under Sparse Attacks by Integral-Type Observer

This article is concerned with the output consensus of heterogeneous multiagent systems under sparse attacks. The leader agent is only available to a small fraction of nodes. To estimate the leader's signal, a distributed observer is proposed, which is of integral type and possesses good robustness and high convergence rate. Unlike the existing literature on the distributed observer, this article introduces a novel event-triggered strategy that utilizes the agents' measurement error state instead of the norm of the state errors. It is theoretically and numerically demonstrated that the triggering times and communication loads among agents can be significantly reduced by using this strategy, and a positive lower bound on the triggering time interval is also computed. Furthermore, an adaptive scheme with a pinning strategy is considered to ensure output consensus with a uniform ultimate bound in the presence of false data attacks. Finally, a numerical example is given to illustrate the effectiveness of the results.