Adaptive bipartite time-varying formation tracking control for heterogeneous multi-agent systems with DoS attacks

Denial-of-service (DoS) attacks and antagonistic interactions may exist in complex networks, which will destroy cooperative communication between agents and thus cannot realize collaborative tasks. Therefore, this paper studies time-varying formation tracking (TVFT) of heterogeneous multi-agent systems (HMASs) with DoS attacks and cooperative-antagonistic interactions. It aims to ensure system communication connectivity and allow followers to achieve distributed secure bipartite TVFT. To enable followers to successfully obtain unknown state of the leader, this paper designs a composite adaptive dynamic event-triggered (DET) bipartite compensator. Compared with existing compensators, it can resist DoS attacks; obtain information of a non-autonomous leader; increase the event triggering interval; and be independent of global information of signed digraph. Based on proposed compensator, a new distributed formation controller is designed for achieving TVFT. The results show that sufficient conditions for realizing secure bipartite TVFT of HMASs under DoS attacks and feasibility conditions for realizing time-varying formations are obtained. Meanwhile, simulations are performed to test validity of the compensator and controller.