Distributed Finite-Time Consensus Tracking Control for Nonlinear Multi-Agent Systems With FDI Attacks and Application to Single-Link Robots

摘要

This brief considers the distributed finite-time consensus tracking control problem for nonlinear multi-agent systems with false data injection (FDI) attacks. Firstly, since instability is inevitable when false datas are injected into the researched system, a security control algorithm combining the modified coordinate transformation and the dynamic surface control (DSC) method is developed to eliminate the negative impact of FDI attacks and reduce the burden caused by iterative computations of virtual controls. Besides, there are unknown nonlinearities in the dynamics of each agent, which can not be directly handled by the traditional control design. Thus, the neural-network-based approximation technique is introduced to compensate the unknown nonlinearities. In summary, a novel controller is constructed for each agent, which guarantees the consensus of the outputs of all agents can be achieved and that all the signals of the studied system are bounded within a finite-time period. To prove the correctness of the designed security control algorithm, a simulation example of the multi-agent system composed of multiple single-link robots is presented.