First, define {tm} as the switching sequence, where t0=0 and m represents the number of switching times. Without loss of generality, it is assumed that multi-agent systems are attacked at time t>0, and therefore do not switch at t0.
Firstly, define {tm} as the switching timing, where t0=0 and m represents the number of switching times. To maintain generality, it is assumed that multi-agent systems are attacked at time t>0, and therefore do not switch at time t 0.
First, define {tm} as the switching timing, where t0=0 and m represents the switching times. In order not to lose generality, it is assumed that multi-agent systems are attacked at time t>0, so they do not switch at t0.