Distributed Tracking Control of Nonlinear Multi-agent Systems Against False Data Injection Attacks

In this paper, the distributed resilient tracking control problem is investigated for nonlinear multi-agent systems with false data injection (FDI) attacks and unknown disturbances. The FDI attacks are considered in communication network between agents. Specifically, the neighbor's information received by the agent may be wrong due to the attacks, which will affect tracking consensus performance. Moreover, the approximate property of fuzzy logic systems are utilized to estimate unknown nonlinear functions. In backstepping framework, we design a distributed resilient control scheme under asymmetric saturation. For asymmetric saturation nonlinearity, an auxiliary system is constructed to simplify designed progress of the controller. Based on Lyapunov stability theory, it is proved that all signals in the closed-loop system are semi-globally uniformly bounded, and the followers' outputs are driven to a neighborhood near the output of leader. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.