Fully Distributed Bipartite Consensus of Multiple Euler‐Lagrange Systems Under DoS Attacks

This paper investigates the leader‐follower bipartite consensus (LFBC) problem of multiple Euler‐Lagrange systems (MELSs) under denial‐of‐service (DoS) attacks. Compared with the existing works where the designed observers depend on global parameters, several distributed observers that are independent of any global parameters, including the size of the global system and communication topology, are designed. A secure bipartite consensus protocol is developed by synchronously updating the coupling strengths of all edges during the time intervals without DoS attacks. To reduce the control complexity and save the computing resources, an edge‐pinning‐based consensus protocol with a synchronous updating strategy is developed, under which only the coupling strengths of partial edges are updated instead of all of them during the time intervals without DoS attacks. Then, to improve the flexibility of bipartite consensus protocols against DoS attacks, the novel secure bipartite consensus protocols with asynchronous updating strategies are designed, under which the coupling strengths of the attacked edges remain unchanged at current values, while the coupling strengths of the unattacked edges are updated normally during the time intervals with DoS attack. Eventually, the proposed results are validated through the numerical simulation.