Reliable Leader-to-Follower Formation Control of Multiagent Systems Under Communication Quantization and Attacks

This paper focuses on the reliable leader-to-follower formation control problems for multiagent systems (MASs) under quantized communication and false data injection attacks on the communication channels. To solve the problems, a novel distributed filter with an adaptive attack compensator is proposed such that the distributed controller, equipped with the developed filter, guarantees the reliability of the systems for the attacked case. Meanwhile, the tracking performance for a no-attack situation approaches that as under traditional controllers. Different from the existing secure distributed controllers, the proposed one only uses available local information (e.g., the follower’s own filtering data), rather than relying on the information of the attacks’ random characteristic and upper bound. Next, to address the challenge that a discontinuous right-hand side is, however, presented to the resulting closed-loop system, the nonsmooth analysis technique and Lyapunov approach are employed. It is shown that all signals in the closed-loop systems are uniformly ultimately bounded, which also implies that the $\Delta $ -asymptotic leader-to-follower formation stability is achieved by MASs, i.e., the asymptotic tracking error converges to zero as the parameter $\Delta $ of the uniform quantizer approaches zero. Furthermore, for the no-quantization-but-possibly attack-occurred situation, the developed filter can achieve cooperative output regulation of MASs. Finally, the effectiveness of the proposed method is verified by a numerical example.