Constraint-Based Fuzzy Adaptive Security Formation Control for Nonlinear Multiagent Systems Against Deception Attacks

This article explores an adaptive security formation control issue for nonlinear multiagent systems (MASs) against unknown deception attacks. The stable operation of multiagent formation is highly dependent on effective communication transmission between agents. To realize the formation control task, first, a state observer is developed to estimate the states under FDI attacks. Then, the nonlinear state-dependent function is introduced to cope with the asymmetric constraints to ensure a safe and stable operation environment of the agent formation. Furthermore, with the help of coordinate transformation and fuzzy logic systems (FLSs), a fuzzy adaptive formation control scheme with an attack compensation mechanism is developed so that various desired formation patterns are achieved with free collision. Under the proposed scheme, the resulting formation tracking error is uniformly ultimately bounded, and the state constraint of the multiagent system is always maintained, even if the agents are subjected to malicious unknown deception attacks. The effectiveness of the control method is validated through simulation examples.