Consensus Control Of Multiple Euler-Lagrange Systems Under Deception Attack

As a dynamic system model established based on the principle of energy conservation,the EulerLagrange system can be used to represent the structure and motion characteristics of almost all physical and mechanical systems,such as unmanned aerial vehicles,mobile robots,and autonomous vehicles.Compared with a single Euler-Lagrange system,maneuverability,flexibility,maneuverability,and operability are the main characteristics of the multi-Euler-Lagrange system.The consistent control of multiple Euler-Lagrange systems can be applied to spacecraft rendezvous and docking,satellite attitude adjustment,multiple manipulators coordination and so on.Therefore,the research on the consistency control of multiple Euler-Lagrange systems has important scientific significance and great potential application value.This paper mainly studies the unknown deception attacks and uncertain communication delays that the multi-Euler-Lagrange system may suffer from external attackers,and proposes related control algorithms and conclusions.The main work of this paper is summarized as follows:Firstly,consider the leaderless consensus control of the multi-Euler-Lagrange system when the output information between individuals is subjected to unknown deception attacks during network communication.The nonlinear uncertainty part of the Euler-Lagrange system is estimated by neural network,and the influence of deceprtion attack is weakened by impulse control,so as to achieve leaderless bounded consistency of the multiple Euler-Lagrange systems.Secondly,consider that the deception attack occurs in the communication channel between systems,that is,the multi-Euler-Lagrange system receives a nonlinear attack signal with a Bernoulli distribution.The leader-follower consensus of the multiple Euler-Lagrange systems can be achieved by leveraging event-triggered mechanisms to coordinate with attack signals to eliminate the impact of attacks on data transmission.Thirdly,considering the situation of the deception attacks and the existence of communication time-varying time delays when communicating between individuals in multiple Euler-Lagrange systems,an adaptive filter is designed to compensate for the attack signal and time delay by estimating the upper bound of the unknown attack signal,then use distributed observers to observe the state of the leader,and use adaptive control to ensure that the Euler-Lagrange system of the network is consistent with the leader.