Cooperative attack tolerant tracking control for multi-agent system with a resilient switching scheme

Abstract

This paper studies the cooperative attack tolerant tracking control problem for multi-agent systems under sensor attacks. A group of distributed adaptive state observers with a resilient switching scheme is proposed to reconstruct the states, then the tracking control strategy is designed based on the estimates. It is shown that both of the estimation and the attack tolerance control performances are ensured despite of multiple sensor attacks and the disturbances. Finally, the experimental results of networked multi-axis motion control show the effectiveness of the proposed method.