Leader-Following Consensus of Multiple Euler-Lagrange Systems Under Deception Attacks

In this paper, the leader-following consensus problem of a multi-Euler-Lagrange system is studied under deception attacks, where attackers can inject false data into being exchanged over communication network between two Euler-Lagrange systems. A distributed adaptive filter proposed to compensate unknown injection data, magnitude estimated. Meanwhile, performance multiple with be guaranteed similar that traditional controller when not injected by malicious attacker. Furthermore, criteria and parameter design scheme are achieved using Lyapunov stability theory. Finally, numerical example carried out demonstrate effectiveness for attacked injection.