Distributed output consensus security control of a nonlinear multi-agent system under sensor and actuator attacks

This paper mainly studies the output consensus security control of multi-agent systems (MASs) under cyber-physical attacks. To deal with the sensor attacks, paralyzed uncertain dynamics in individual follower are separated by the separation theorem, and items associated attacks gather together. Then, estimation parameters are introduced for compensating and mitigating the influence from the sensors. The effects from the dead-zone property and actuator attack are treated as a total shift, and an upper bound, as well as its estimation, is introduced for the shift. In theory, the stability of the paralyzed closed-loop MAS is analyzed, and it has been proved that all signals are bounded in spite of nonlinear dynamics and attacks. Finally, theoretical results are verified through a rotary-wing air vehicle and a numerical case.