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

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 L
₂
-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.