Resilient Output Control of Nonlinear Multi-agent Systems with Unknown Control Directions Under Byzantine Attacks

This article investigates resilient output control for nonlinear multi-agent systems (MASs) with unknown control directions and Byzantine attacks. The distributed adaptive security control scheme is developed by combining the resilient algorithm with the backstepping recursion technique. Considering the robustness of the network topology, this paper utilizes the coordinate trimming method to resist the extreme impact of Byzantine attacks, and a fuzzy state observer is designed with the help of the k-filtering technique. The Nussbaum function technique is utilized to solve the unknown control direction problem, which can effectively compensate for the harmful impact of the attacks. Upon this basis, the resilient controller is developed to ensure that the outputs can track the desired trajectory in the presence of Byzantine adversaries and unknown control directions. In addition, the effectiveness of the proposed scheme is verified through simulation.