Resilience‐based output containment control of heterogeneous MAS against unbounded attacks

This paper studies the resilience-based output containment control problem of heterogeneous multi-agent systems in presence simultaneous false data injection attacks on both sensors and actuators injected cyber physical layers. In real-world security problems, malicious adversaries could inject simultaneously, even with unbounded injections, to maximize their damage systems. To address such a problem, distributed observer is first designed for each follower estimate actual system states against sensor attacks. A framework then proposed using state estimation adaptive techniques compensate bounded actuator attack signals adaptively. Lyapunov stability analysis shows that uniformly ultimately convergence achieved despite simultaneously That is, follower's trajectory converges small neighbourhood around convex hull spanned by leaders' trajectories. The effectiveness theoretical results verified case numerical simulations.