Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 50, Issue 3, Pages 1240-1250Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2019.2903411
Keywords
Distributed adaptive compensator; faulty agents; H-infinity control; malicious agents; resilient synchronization
Categories
Funding
- NSF [ECCS-1405173]
- Office of Naval Research [N00014-13-1-0562, N00014-14-1-0718]
- Army Research Office [W911NF-11-D-0001]
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Resilient and robust distributed control protocols for multiagent systems under attacks on sensors and actuators are designed. A distributed H-infinity control protocol is designed to attenuate the disturbance or attack effects. However, the H-infinity 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.
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