Bipartite Consensus Tracking Control for High-Order Fully Actuated Multiagent Systems Under Actuator Deception Attacks

This paper investigates the bipartite consensus tracking problem for high-order fully actuated multiagent systems subject to actuator attacks and external disturbances. A novel hierarchical control strategy is proposed, comprising a bipartition algorithm and a fully distributed controller. The bipartition algorithm includes two key components: a layer formation mechanism that organizes agents into a hierarchical structure, and a bipartition flow that leverages this hierarchy to partition the agents into two antagonistic groups. Based on the resulting bipartition, an identified agent is selected for each follower, enabling the design of a distributed controller that utilizes only local information from the identified agent. Furthermore, to mitigate the adverse effects induced by actuator attacks, an adaptive compensation mechanism is incorporated into the control framework. Theoretical analysis demonstrates that all signals in the closed-loop system remain bounded and that the bipartite consensus tracking error converges to a small neighborhood of the origin. The effectiveness and robustness of the proposed control strategy are further validated through simulation studies.