线性多智能体系统抵抗无界FDI传感器攻击和不可靠有向图的弹性时变输出编队跟踪
Resilient Time-Varying Output Formation Tracking of Linear Multi-Agent Systems Against Unbounded FDI Sensor Attacks and Unreliable Digraphs
摘要：
协同编队跟踪的一个显著特征是其分布式特性，即依赖于在稀疏通信网络上的局部控制和信息共享。也就是说，分布式控制方式可能容易受到恶意攻击和不可靠的通信，从而降低编队跟踪性能，甚至使整个多智能体系统不稳定。研究了线性多智能体系统的安全可靠的时变输出编队跟踪问题，攻击者注入任意无界时变信号（FDI攻击），而智能体之间的通信信道则由不可靠的网络引起中断.这两个特点提高了问题的实际相关性，这对分布式算法设计和稳定性分析提出了一些技术挑战。为了减轻不利影响，一种新的弹性分布式控制架构建立，以保证时变输出形成指数跟踪。该框架的主要特点是：1）集成了一个基于拓扑的标识器来补偿不利影响; 2）提出了一个可靠的分布式算法来处理由不可靠通信引起的时变拓扑;以及3）与利用已知知识将攻击处理为有界干扰/故障的现有补救相比，针对动态编队跟踪误差指数收敛的问题，提出了一种弹性策略来处理未知和无界攻击，而现有的结果大多能达到一致最终有界（UUB）结果。数值仿真结果表明了该设计的有效性。
英文摘要：
One salient feature of cooperative formation tracking is its distributed nature that relies on localized control and information sharing over a sparse communication network. That is, a distributed control manner could be prone to malicious attacks and unreliable communication that deteriorate the formation tracking performance or even destabilize the whole multi-agent system. This paper studies a safe and reliable time-varying output formation tracking problem of linear multi-agent systems, where an attacker adversely injects any unbounded time-varying signals (false data injection (FDI) attacks), while an interruption of communication channels between the agents is caused by an unreliable network. Both characteristics improve the practical relevance of the problem to be addressed, which poses some technical challenges to the distributed algorithm design and stability analysis. To mitigate the adverse effect, a novel resilient distributed control architecture is established to guarantee time-varying output formation tracking exponentially. The key features of the proposed framework are threefold: 1) an observer-based identifier is integrated to compensate for adverse effects; 2) a reliable distributed algorithm is proposed to deal with time-varying topologies caused by unreliable communication; and 3) in contrast to the existing remedies that deal with attacks as bounded disturbances/faults with known knowledge, we propose resilience strategies to handle unknown and unbounded attacks for exponential convergence of dynamic formation tracking errors, whereas most of existing results achieve uniformly ultimately boundedness (UUB) results. Numerical simulations are given to show the effectiveness of the proposed design.
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