This article studies event-triggered control for the prescribed-time bipartite consensus of first-order multiagent systems. For each agent, the new event-triggered control law and triggering condition are constructed without continuous interneighboring communication. Based on the Lyapunov stability theory and the algebraic graph theory, permissible value ranges of the designed parameters are established to guarantee that all agents reach bipartite consensus in a completely prespecified time. Moreover, a comprehensive theoretical discussion is provided to show that the Zeno behavior can be excluded during the whole time span except the prespecified settling time T. The simulation results demonstrate the feasibility of the provided methods.

With the wide application of cyber-physical systems, stealthy attacks on remote state estimation have attracted increasing research attention. Recently, various stealthy innovation-based linear attack models were proposed, in which the relaxed stealthiness was measured by the Kullback--Leibler divergence. This paper studies existing innovation-based linear attack strategies with relaxed stealthiness and concludes that all of them provided merely suboptimal solutions. The main reason is some oversight in solving the involved optimization problems: some covariance constraints were not perfectly handled. This paper provides the corresponding optimal solutions for those stealthy attacks. Both one-step and holistic optimizations of stealthy attacks are studied, and the worst-case attacks with and without zero-mean constraints are derived analytically, without the necessity to formulate semidefinite programming problems.

In this paper, the bipartite consensus of first-order multi-agent systems with a connected structurally balanced signed graph is studied. To reduce the communications among agents, a distributed event-triggered control law is proposed, where the event-triggering condition of each agent only uses its own state and the sampled states of its neighbours, and no knowledge of the global network topology is required. By relating to the nonexistence of some finite-time convergence, a novel analysis is given to show that there is no Zeno behavior in the proposed event-triggered multi-agent system. Then from the Lyapunov stability theory and the algebraic graph theory, it is proved that all agents can reach agreement with an identical magnitude but opposite signs. Finally, a numerical example is given to illustrate the efficiency and feasibility of the proposed results.

This article studies Zeno behavior, where an infinite number of events occur in a finite-time interval, in the event-triggered multiagent systems that aim at achieving consensus in finite time. Two popular scenarios in the first-order multiagent systems with model-based event-triggered controllers are considered. One is that the event trigger in each agent samples the absolute information, and decides when to broadcast the information to its neighbors, and the other is that the update of control signals is only scheduled by the local event triggers via directly using the (combined) relative information. The events are triggered when the measurement error between the agent, and model states violates a given threshold function. Both cases are studied, where the threshold is generated by the agent state or by the model state. Then, sufficient conditions on the existence of Zeno behavior in event-triggered finite-time consensus of multiagent systems are provided. For the triggering conditions with the thresholds given by agent states, the system must exhibit Zeno behavior; while in the case of using model states, the existence of Zeno behavior is influenced by the properties of the communication topology, and the threshold functions. Finally, several simulations, and examples are provided to illustrate the effectiveness of the theoretical results.

In this paper, the effects of bounded disturbances on decentralized event triggered control systems are studied. The input-to-state (practical) stability of integral-based event-triggered control systems and dynamic event-triggered control systems is analyzed in a uniform framework by utilizing a new Lyapunov functional approach. An estimation on the upper bound of the input-to-state stability gain is given analytically. First, Zeno behavior is excluded with the time regularized mechanisms, that is, a pre-specified lower bound of inter event times is introduced. Then, the conditions are presented under which the considered event-triggered control systems ensure Zeno-freeness without time regularization. Finally, a numerical example is given to illustrate the efficiency and feasibility of the proposed results.