Adaptive Bipartite Output Consensus of Heterogeneous Multi-Agent Systems with Resilience to Link and Actuator Attacks

This paper investigates the bipartite output consensus of heterogeneous linear multi-agent systems (MASs) in the presence of both communication link and actuator attacks. First, two kinds of observers which are resilient to communication link attacks are proposed. By introducing fixed-time control, the observer can recover the leader’s bipartite state in finite time under the coexistence of cooperative and antagonistic interactions. Then, distributed resilient control law is designed to guarantee that the bipartite output consensus is achieved with cooperative uniformly ultimate boundedness in the presence of actuator attacks. Furthermore, in order to improve the system cooperative control performance, fixed-time control based resilient control scheme is proposed such that the convergence rate can be improved obviously. Finally, numerical examples are given to demonstrate the effectiveness of the proposed control schemes.