This chapter explores the achievement of cluster consensusCluster consensus for heterogeneous multi-agent systems (MASs) with time-varying unknown nonidentical direction (TVUND) faults under stochastic false data injection attacks (FDIAs). A fault-tolerantFault-tolerant method is introduced, which is based on the Nussbaum functionNussbaum function and does not require the knowledge of the fault directions and the upper and lower bounds of the fault scaling factors. To address the challenges posed by the summation effect of multiple Nussbaum functions, a new set of Nussbaum functions is designed. Additionally, a hybrid event-triggered mechanism (ETM) is proposed, which incorporates both adaptive and memory capabilities, to lessen the communication load by modulating the trigger threshold based on both the consensus error and the trajectory dynamics of agent.