Secure Bipartite Consensus With Event-Trigger-Based Exclusion for Nonlinear Multi-Agent Systems Under Malicious Attacks

A secure bipartite consensus control strategy with an event-trigger-based exclusion is reported for uncertain nonlinear multi-agent systems with malicious agents in a signed directed graph. For malicious agents, an event-triggered exclusion algorithm is proposed to determine suspicious ones. Then, a distributed dynamic surface control is employed with relative secure agents to achieve bipartite consensus. The dynamic eventtriggered condition is constructed, based on event-triggered errors and dynamic surface errors, for reduction of communication load. With the help of Lyapunov functions, it is proven that the consensus errors are ultimately bounded and converge to an adjustable neighborhood of the origin. Finally, two simulation results are illustrated to verify the feasibility of the secure control strategy.