Distributed resilient adaptive consensus tracking control of nonlinear multi-agent systems dealing with deception attacks via K-filters approach

Abstract

It poses technical difficulty to achieve distributed consensus tracking control with input quantizations and deception attacks for nonlinear multi-agent systems subject to mismatched parametric uncertainties via backstepping design. The underlying problem becomes even more complicated because i) the system contains mismatched uncertainties; ii) the output becomes unavailable after attacks, making the conventional recursive control design strategy using traditional error surfaces unsuitable; iii) since only the compromised output signal is available, the impacts of nonlinear items related to unknown attack weights become difficult to be explicitly addressed in the existing available output feedback control results. In this paper, we present a solution to circumvent these obstacles by constructing a set of new K-filters using compromised output only, which, together with a coordinate transformation involving the attacked output and filter variables, allow a new form of backstepping based distributed resilient adaptive control protocol to be developed. Meanwhile, an extra compensation term is incorporated into the real controller to handle the effect of quantization on the system stability. It is shown that, with proper choices of Lyapunov functions, the global uniform boundedness of all the closed-loop signals and the asymptotically output consensus tracking can be achieved. A practice example is provided to verify the benefits of our scheme.