Resilient Output Containment under Undisclosed Leader Dynamics and Actuator Attacks
It addresses the problem of safe multi-agent coordination under cyber-attacks and unknown leader behavior, which is important for applications like drone swarms, but the approach is incremental as it extends existing containment control methods with adaptive attack compensation.
This paper proposes a two-layer adaptive control architecture for resilient output containment in heterogeneous linear multi-agent systems under actuator attacks and undisclosed leader dynamics, achieving asymptotic containment at the command level and convergence of physical outputs to the leader convex hull with a residual.
This work studies resilient output containment for heterogeneous linear multi-agent systems with actuator cyber-attacks over directed network topologies. The leaders generate bounded locally absolutely continuous trajectories; however, their dynamics, velocity bounds, and motion envelopes are undisclosed to the followers. The cyber-attack model includes state- and input-correlated, as well as bounded exogenous actuator false-data terms. A continuous two-layer adaptive control architecture is proposed. The first layer is a virtual-actuator reconfiguration layer that uses partial state measurements to compensate for actuator attacks in the local tracking-error dynamics. The second layer is a network interface that generates task-space commands via an adaptive interaction protocol. This protocol uses only neighbor-exchanged network-interface states whose dimensions match those of the plant output, and it does not require global graph knowledge for parameter tuning. For directed graphs, under a leader-rooted united spanning-tree condition, a nonsmooth Lyapunov analysis yields asymptotic containment at the command level. The physical outputs then converge to the leader convex hull up to a residual determined by the command-tracking local controllers. Simulation results using a network of quadrotors with damped suspended loads illustrate the performance of attack recovery and containment tracking.