Dynamic Event-Triggered Fault-Tolerant Secure Bipartite Output Consensus of Multiagent Systems With Quantized Information and DoS Attacks

This paper investigates the bipartite fault-tolerant output-consensus problem for heterogeneous multi-agent systems (MASs) with quantized information under denial-of-service (DoS) attacks through novel adaptive dynamic event-triggered control (ADETC). Firstly, a quantized dynamic compensator is designed to recast the output-regulation objective as a tractable bipartite consensus problem. Secondly, a fully distributed adaptive fault-tolerant controller is developed, whose update laws are driven only by locally quantized information, and are proven to asymptotically cancel the bias caused by any actuator fault lying within a sector-bounded set. Thirdly, a resilient connectivity-recovery mechanism is integrated into the ADETC strategy by explicitly deriving the allowable attack frequency and duration, and it guarantees that Zeno-free triggering sequences are preserved even when DoS jams an a priori unknown subset of channels. Furthermore, Lyapunov analysis demonstrates that the proposed protocol ensures bipartite output consensus with an exponentially ultimately bounded error. Finally, the obtained theory is corroborated by two numerical examples.