This paper presents an event-triggered cluster consensus scheme for heterogeneous nonlinear second-order multi-agent systems (MASs) subject to cyber attacks (i.e., aperiodic denial-of-service (DoS) attacks), actuator faults and integral quadratic constraints (IQCs) under directed communication topology containing a directed spanning tree. Based on local communication, an event-triggered adaptive fault-tolerant pinning control scheme is designed to achieve cluster consensus under simultaneous cyber attacks and actuator faults. The proposed control scheme does not require the communication topology to satisfy the in-degree balance between different clusters. Furthermore, the fault-tolerant control part only needs to estimate one parameter for each agent. Instead of requiring continuous information on its neighbors to determine the trigger instants as in the previous literature, an event-triggered mechanism that does not require periodic sampling of neighbors’ information is developed to save network resources, and the Zeno behavior is excluded. Finally, a simulation example confirms the effectiveness and superiority of the proposed control scheme.

中文翻译：

---

非周期性 DoS 攻击下异构非线性多智能体系统集群一致性的事件触发自适应容错钉扎控制


本文提出了一种事件触发集群共识方案，适用于遭受网络攻击（即非周期性拒绝服务（DoS）攻击）、执行器故障和积分二次约束（IQC）的异构非线性二阶多智能体系统（MAS） ）在包含有向生成树的有向通信拓扑下。基于本地通信，设计了一种事件触发的自适应容错钉扎控制方案，以在同时发生网络攻击和执行器故障的情况下实现集群共识。所提出的控制方案不需要通信拓扑来满足不同集群之间的入度平衡。此外，容错控制部分只需要为每个智能体估计一个参数。与之前文献中需要有关邻居的连续信息来确定触发时刻不同，开发了一种不需要定期采样邻居信息的事件触发机制来节省网络资源，并且排除了 Zeno 行为。最后，仿真算例验证了所提控制方案的有效性和优越性。