Observer-Based Event-Trigger Tracking Control for Nonlinear MASs With Deception Attacks and Measurement Sensitivity

In this article, the dynamic event-triggered consensus tracking control problem is studied for nonlinear multi-agent systems (MASs) with unknown measurement sensitivity under deception attacks. To estimate the unmeasurable system state caused by deception attacks and unknown measurement sensitivity, a distributed state observer with damaged neighbor feedback information is designed. By introducing the estimated value of synchronization error into the threshold function of the dynamic event-triggered mechanism (ETM), the threshold is automatically relaxed as the error decreases when the system tends to be synchronized, thereby reducing the trigger frequency and saving communication resources. Based on the backstepping technique, an adaptive attack compensator is designed to simultaneously compensate against the effects of deception attacks and unknown measurement sensitivity. Based on this, a fuzzy adaptive control strategy is developed to achieve consensus control. It is demonstrated that all signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the Zeno phenomenon can be avoided. Finally, the effectiveness of the proposed design scheme is verified by a simulation example.