Resilient Control For Linear Multi-agent System Based On Dynamic Event-triggered Mechansim And Its Application

Linear multi-agent system has been widely used in military and civil fields,such as multi robots,smart grid and so on.Multi-agent systems need to transmit information to each other when completing tasks,and the transmission process is vulnerable to malicious attacks,but also limited by network transmission resources.In practical application,both multi-robot system and microgrid system can be modeled as linear multi-agent system.Therefore,it is of great theoretical significance and engineering value to study resilient control based on event-triggered mechanism for linear multi-agent systems.This topic mainly studies the influence of actuators and sensors attacks on the homogeneous and heterogeneous multi-agent systems.For linear multi-agent systems,combined with dynamic triggered communication technology,we study the resilient consensus control strategy for a homogeneous multi-agent system and the resilient bipartite consensus control strategy for a heterogeneous one,respectively.Then,the results of them are applied to the voltage recovery,energy levels’consensus and active powers’consensus of battery energy storage system.The specific works are summarized in the following three aspects:1.For the linear multi-agent system under sensor and actuator attacks,a resilient consensus control strategy based on a secure dynamic event-triggered mechanism is proposed.A distributed protector is predefined,and a secure dynamic event-triggered mechanism is constructed.Then,we discuss the criterion for determining the coefficient of each protector:when the error between the paralyzed state and the one of predictor is in a tolerable range,the protection coefficient is set as zero;otherwise,the coefficient is 1,and the prediction state is introduced into the dynamic event-triggered mechanism.Different from the static event-triggered mechanism,the dynamic auxiliary parameters are constructed in the triggered conditions,and its adaptive law depends on the measurement error and relative error between neighbors’ states and its own at the triggered instant.The proposed event-triggered mechanism can effectively alleviate the influence of malicious attacks on the triggered sequence,and further reduce the number of triggering.The stability of the closed-loop system is analyzed by Lyapunov function,and the consensus error satisfies the L2-gain performance.2.For a heterogeneous linear multi-agent system with actuator attacks,a fully distributed adaptive bipartite consensus resilient control strategy based on dynamic self-triggered mechanism is proposed.Firstly,an adaptive dynamic compensator with the same dimension is designed for each follower to construct a virtual layer,and the bipartite consensus control problem of the heterogeneous linear multi-agent system is solved by combing with the condition that the output regulation equation has a solution.Different from a traditional dynamic compensator with a fixed feedback gain,the dynamic compensator in this paper introduces an adaptive gain,which forms a closed loop,and its inlet parameter contains system errors.Our control strategy only depends on agents’dynamics and relative states from their own neighbors,it is independent of the global information of the communication topology.Then,an adaptive dynamic self-triggered mechanism without continuous monitoring is proposed.Compared with the triggered mechanism with a constant value,our dynamic self-triggered mechanism improves the self-regulation ability.Different from the static self-triggered mechanism,the dynamic self-triggered mechanism considers the case that thresholds in the triggered condition are time-varying and related to system errors,which can reduce the triggered number.Then,Nussbaum functions are employed to deal with the nonzero bounded scaling coefficient from actuator attacks;we estimate the upper bound of the unknown actuator additional attack,rather than the attack signal itself,and an adaptive resilient control strategy to resist the actuator attacks is proposed.The stability of the system is analyzed by Lyapunov function,and the bipartite consensus errors of exponential convergence is obtained.3.Based on the above theoretical research,taking the heterogeneous battery energy storage system as the research object,a secondary voltage resilient control strategy based on secure dynamic event-triggered mechanism and a secondary energy level resilient control strategy based on dynamic self-triggered mechanism are proposed respectively.These two strategies solve the voltage recovery,energy level and active power consensus problems,respectively.An additional energy level control input is used to make the energy level achieve consensus,so that the active power and energy level of the energy storage device can be controlled independently.Firstly,in order to solve the voltage recovery problem of battery energy storage system,we built a distributed battery dynamic model and a secure dynamic event-triggered mechanism and consider that the voltage and voltage control input of battery energy storage system were subjected to data tampering attack.Based on these,we designed a secondary voltage resilient control strategy.The control strategy keeps the battery energy storage system voltage stable and drives the voltage of each battery energy storage system to track the expected value.Then,for the heterogeneous battery energy storage system,we consider the limited communication resources between the energy storage systems and the data tampering attack on the energy level control input and active power control input of the battery.A resilient control strategy of energy level and active power based on dynamic self-triggered mechanism is designed to solve the consensus problem of energy level and active power of heterogeneous battery energy storage system under actuator attack.Theoretically,the stability of battery storage closed-loop system is analyzed by Lyapunov function,and the Zeno behavior is excluded.