LAUSR

This paper is concerned with the problem of bipartite containment control design for a class of nonlinear multiagent systems with time-delays in agents’ states under impulsive false-data-injection attacks. The considered multiagent system is subject to Markovian variation in the signed communication topology. The graph among the followers is assumed to be structurally balanced for each Markovian switching mode. A memory distributed control protocol is proposed to achieve bipartite containment within the convex hull of leader agents as well as the symmetric convex hull. The bipartite containment control problem is solved by means of a Markovian switching Lyapunov function and the Razumikhin technique. In addition, the problem of bipartite leader-following consensus is also addressed for delayed nonlinear multiagent systems with one leader. Two examples are provided to show the effectiveness of the proposed control scheme, and comparison results with existing methods are given as well.