Formation Control of Nonlinear Multi-Agent Systems with Actuator and Communication Attacks

In this paper, we focus on the formation control problems of MAS over a directed graph with actuator and communication attacks. The considered system is composed of a leader, some followers and an attacked communication network. Firstly, a new distributed observer is proposed to estimate the leader information despite communication attacks. Then, for high-order nonlinear systems, we develop an adaptive control strategy to solve the actuator attack by using Nussbaum function and back-stepping technique, so that the agent with actuator attacks can follow the leader’s trajectory. Finally, a simulation example is proposed to verify the results of this paper.