Fuzzy-Resilient Distributed Optimal Coordination for Nonlinear Multiagent Systems Under Command Attacks

Abstract

In this paper, we consider the problem of resilient distributed optimal coordination for uncertain nonlinear multi-agent systems, where each agent is remotely dominated by an associated instruction generator via an unreliable network channel which may be distorted by false data injection (FDI) attacks. To avoid evaluating the quality of decision variable or computing its high-order derivatives when applying the backstepping method, which is difficult in a distributed way, a new two-layer integrated design protocol with fuzzy-approximation-based adaptive dynamics compensation mechanism is designed. Through the local online estimation of the optimal solution and design of adaptive feedback gain, the fuzzy adaptive mechanism realizes the mutual compensation of cyber dynamics and physical dynamics. Resultantly, all the agents are shown to achieve the optimal consensus regardless of the FDI attacks and nonlinear uncertainties.