Resilient and Robust Synchronization of Multiagent Systems Under Attacks on Sensors and Actuators.

Abstract

Resilient and robust distributed control protocols for multiagent systems under attacks on sensors and actuators are designed. A distributed H∞ control protocol is designed to attenuate the disturbance or attack effects. However, the H∞ controller is too conservative in the presence of attacks. Therefore, it is augmented with a distributed adaptive compensator to mitigate the adverse effects of attacks. The proposed controller can make the synchronization error arbitrarily small in the presence of faulty attacks, and satisfy global L2 -gain performance in the presence of malicious attacks or disturbances. A significant advantage of the proposed method is that it requires no restriction on the number of agents or agents' neighbors under attacks on sensors and/or actuators, and it recovers even compromised agents under attacks on actuators. Simulation examples verify the effectiveness of the proposed method.