Distributed Practical Bipartite Output Consensus for Heterogeneous Multi-Agent Systems With Actuator Attacks and External Disturbances Under Edge-Based Event-Triggered Mechanism

This study presents an edge-based event-triggered control method to address the practical bipartite output consensus problem for heterogeneous multi-agent systems (MASs) under actuator attacks and external disturbances. Initially, a fully distributed edge-triggered compensator is introduced to efficiently observe the bipartite state of the leader. Zeno behavior is then eliminated for each agent. To address the negative consequences caused by actuator attacks, a distributed state predictor is designed. And a distributed resilient controller is proposed to mitigate the effects of actuator attacks and external disturbances, ensuring practical bipartite output consensus. Finally, the effectiveness of the approach is validated through a numerical example and a comparative example. Compared to existing methods, the proposed approach offers four key advantages: it removes dependence on global topology, eliminates continuous communication, and supports signed communication topologies; it reduces unnecessary communication through an edge-based event-triggered mechanism; it introduces a distributed state predictor to handle actuator attacks and complex external disturbances, improving robustness; and the resilient control strategy ensures practical consensus, providing a more practical and robust solution.