Consensus Research Of Networked Robotic Systems Under Deception Attacks And DoS Attacks

In recent years,multi-agent systems as a new distributed computing technology have rich applications in society,military and industry,and also multiple Euler-Lagrange systems have been increasingly studied for their superiority.The object of this paper is to study how we can make the Euler-Lagrange system still operate normally when it is under cyber attacks.The main contents include.For the multiple Euler-Lagrange systems approach to achieve leader-following bipartite consensus is investigated when the systems are under the uncertain systems and the impact of deception attacks.An adaptive distributed observer containing filters is built for nonlinear systems where the matrix is not known specifically.There are two main purposes served by the adaptive distributed observer.the first is to estimate the state and pass the information to each follower through the system’s communication network when the system’s matrix is not known certainly,and the second is to eliminate deception attacks added to Euler-Lagrange systems by the filters.Then,on the basis of this adaptive distributed observer functioning in the system,the problem for multiple Euler-Lagrange systems of leader-following bipartite consensus will be solved by using the Lyapunov method and the deterministic equivalence principle.Finally,numerical simulations will be carried out to demonstrate the effectiveness of the proposed strategies.For the problem of leader-following bipartite consensus of multiple uncertain Euler-Lagrange systems under the influence of deception attacks.In contrast to existing results,we consider the exosystem with an auxiliary system in this paper,of which auxiliary system is dynamic,and both exosystem and auxiliary system can greatly enrich the reference signal and make our control scheme more flexible.However,due to the presence of deception attacks and the dynamic auxiliary system,we are confronted with the question of whether the system can properly achieve leader-following bipartite consensus despite the effects of both previously mentioned.To solve this problem,we define a so-called dynamic leader-following problem,where the tracking error is bounded and decays to zero in a dynamic manner.Finally,we design an adaptive distributed control law with a filter to remove the effect of deception attacks,which is combined with the existing results to solve the leader-following bipartite consensus problem.For a novel problem of security performance and consensus of multiple uncertain Euler-Lagrange systems under denial-of-service(DoS)attacks.First,we address how to make the system still function properly when the communication channel is cut off with intermittent DoS attacks by means of an event-triggered mechanism.At the same time,due to the uncertainty of the system there,we introduce an exosystem to generate signals so that the global information can be observed normally by distributed observers.Then,Euler-Lagrange systems can be consensus while still ensuring its security.Furthermore,on the basis of this adaptive distributed observer functioning in the system,the problem for multiple Euler-Lagrange systems of leader-following consensus is solved by using the Lyapunov method and the deterministic equivalence principle.Finally,numerical simulations are carried out to demonstrate the effectiveness of the proposed strategies.