Fixed-Time Bipartite Containment Control for Heterogeneous Multiagent Systems Under DoS Attacks: An Event-Triggered Mechanism

This article investigates secure bipartite containment control with the event-triggered mechanism (ETM) for nonlinear heterogeneous multiagent systems (MASs) via the feedback control in fixed time. A novel attacks detection algorithm and an updated label strategy are designed to judge the occurrence of Denial of Service (DoS) attacks or not. It can search for new multiple directed spanning trees for MASs with multiple leaders to decrease the negative influence when attacks happen. In this case, the dynamic ETM is adopted by adjusting the triggered threshold online to save resource consumption. The state-feedback control and output-feedback control are selectively employed according to the situation where the state value of the follower is available or not. The settling time is further relaxed by fixed-time stability theory and can be preset in advance. By theoretical discussion, conditions of achieving bipartite containment control are derived by Lyapunov functions. Finally, the effectiveness of the established control method is verified by simulations.