Output Formation Containment for Multiagent Systems Under Multipoint Multipattern FDI Attacks: A Resilient Impulsive Compensation Control Approach
研究了多智能体系统在传感器、执行器和通信信道同时遭受多模式虚假数据注入攻击时的输出编队包含问题，提出了一种集成状态观测器、攻击估计器、脉冲交互器和补偿控制器的混合协议，实现了系统的有界稳定。
The increasing number of devices and frequent interactions of agents from networked multiagent systems (MASs) exacerbate the risks of potential cyber attacks, especially the different point attacks and multiple pattern attacks. This article considers the output formation-containment problem for MASs under multipoint multipattern false data injection (FDI) attacks. The multipoint describes the attacks simultaneously occurring on the sensors, actuators, and communication channels; the multipattern captures that sensor and actuator attack signals are both continuous deterministic variables, and the communication channel attack signals are intermittent random variables, obeying the Bernoulli distribution. For such compromised MASs, a novel hybrid protocol is proposed, which integrates a state observer, an attack estimator, an impulsive interactor and a compensation controller. Thereinto, the state observer and the attack estimator are constructed to recover the unmeasured system states and the unknown FDI attack signals, respectively; the impulsive interactor is designed to guarantee that the neighbor's signals are transmitted only at impulsive instants, and meanwhile the channel attacks are randomly launched; using the recovered signals, the compensation controller is devised to alleviate the effect of attacks. A sufficient condition is identified, under which the output formation containment is achieved with cooperative uniform ultimate boundedness (UUB). Finally, simulation results are carried out to validate the effectiveness and advantages of the proposed approach.