Adaptive Attack-Resistant Protocol of Multi-Agent Systems for Consensus Tracking with Disturbance

This is the authors' abstract. We don't add key points for this paper.

This paper proposes a fully distributed adaptive protocol for cooperative tracking of linear multi-agent systems under disturbances, where each agent only use relative output measurements. The entire control protocol design consists of two parts, the first of which applies an improved unknown input observer (UIO) while the second part uses the estimated values to design the adaptive feedback controller. We use only relative output information to design the UIO rather than absolute output information or relative state information, eliminating these requirements, enhancing robustness against disturbances and potential attacks. Then, we perform a stability analysis of the proposed control protocol, ensuring the closed-loop stability of the system. The efficacy of the protocol is demonstrated through numerical simulations on a set of transport aircraft with shortperiod dynamics.