Observer-Based Resilient Consensus Control for Heterogeneous Multiagent Systems Against Cyberattacks

In this article, the secure output consensus control problem for discrete-time heterogeneous multiagent systems against two types of cyberattacks is studied. The attackers continuously launch attack signals into the actuators and randomly launch attack signals into the sensors with unknown Markovian attack probabilities. A novel observer-based cooperative output regulation consensus controller is designed to mitigate the detrimental influence of attack on consensus performance. To avoid corrupted sensor's signal being used by the observer, an attack detector-based observer is developed for each follower to estimate both the attack signal in actuator and the system state. By converting the estimation error system subject to an unknown Markov modeled attack to a Markov switching system with unknown transition probabilities, a sufficient condition of the observer gain is given. Moreover, a discrete-time auxiliary system is designed to estimate the leader state. Finally, a numerical example and a practical example of heterogeneous mobile vehicles show the effectiveness of the proposed control strategy.