Trigger-based Distributed Resilient Coordination Control For Linear Multi-agent Systems Under Cyber Attacks

In recent years,distributed coordination of multi-agent systems(MAS)has been widly used in fileds of civil and national defense.While the networked MAS brings convenience,it has potential risk of malicious attacks,and even the stability of the system will be destroyed,resulting in economic losses.Therefore,it is of great theoretical and engineering significance to study the resilient control of the MAS which can ensure the stability of the system.By reconstructing and compensating paralyed signals,with graph theory,state feedback and output regulation,this paper has launched a systematic research of the distributed resilient control problem of the MAS under Denial-of-Service(Do S)attacks,false data injection(FDI)attacks and communication link attacks,and saved resources by event-triggered mechanisms(ETMs).The voltage synchronization simulation in the microgrid is used to verify the effectiveness of the control strategy we proposed.The research work of this paper mainly includes the following three aspects.1.For the leader-following consensus control problem of a homogeneous linear MAS under Do S attacks,a distributed resilient coordination control scheme with a dual-terminal event-triggered mechanism is proposed.The dual-terminal mechanism composed of the triggered mechanism on the measurement channel and the other on the control channel.During Do S attacks interval,by the adaptive observation technology,an observer is designed to reconstruct missing signals.With the help of the observer,the dual-terminal event-triggered mechanism,which can switch the triggered functions,is proposed.Morever,in order to avoid continuous requirement of neighbor state,the implementation algorithm without continuous communication is designed.From a Lyapunov function,the frequency and duration of Do S attacks that the closed-loop system can withstand are obtained,and the synchronization state between the follower and the leader are proved to be bounded consensus.Further,a self-triggered-based resilient control scheme is designed to avoid continuous monitoring measurement errors.2.For the leader-following consensus control problem of a homogeneous linear MAS under FDI attacks on sensors and actuators,a distributed resilient coordination control scheme is proposed with a dual-terminal dynamic-triggered mechanism.The dual-terminal dynamic-triggered mechanism composed of two triggered mechanisms on the measurement channel.Attackers can inject false signal,which is unknown and time-varying,on both sensors and actuators of followers.With the help of projection operator and state estimation error,an adaptive compensation state observer is developed for reconstructing corrective signals.Based on the observer,the dual-terminal dynamic-triggered mechanism is studied,which can reduce the number of triggers while maintaining system performance.Meanwhile,a neighbor state observer is developed to removes the requirement of continuous acquisition of neighbors' states.It is proved that state of agents is bounded consensus by a Lyapunov function.3.For the leader-following output synchronization control problem of a heterogeneous linear MAS with link attacks and FDI attacks on actuators,a fully distributed resilient coordination control scheme based on event-triggered mechanism is proposed.In response to link attacks resulting in the change of communication weights,a fully distributed state observer is proposed to estimate relative information of the leader by the adaptive observation technology,and no global information are used.Moreever,the leader's matrix is identified in finite time.With the help of trigger mechanism,network burden is reduced.For unknown and time-varying actuator FDI attacks,an adaptive state compensator based on the fully distributed event-triggered-based leader's state observer and the time-varying output regulator equation,is developed.Then,an implementation algorithm is developed without continuous communication for further avoiding continuous requirement of neighbor state.It is proved that output state between the follower and the leader in a heterogeneous MAS is bounded consensus by a Lyapunov fnction.