Bipartite output consensus of singular heterogeneous multi‐agent systems subject to actuator attacks

Abstract This paper investigates bipartite output consensus of singular heterogeneous linear multi‐agent systems (SHL‐MASs) subject to actuator attacks, which are type of false data injection attacks. Firstly, a bipartite fixed‐time observer is proposed to recover the leader's bipartite state under the coexistence of cooperative and antagonistic interactions among agents. Next, dimensionality reduction on SHL‐MASs is performed, such that bipartite output consensus of SHL‐MASs is transformed into bipartite output consensus of a reduced‐order normal heterogeneous linear multi‐agent systems (MASs) subject to actuator attacks. Then, resilient controller is designed for followers to achieve bipartite output consensus with uniformly ultimate bounded. Finally, examples are given to demonstrate the results.