Event-Triggered State Interval Estimation and Fault-Tolerant Control for Multi-Agent Systems Under Deception Attacks

This paper investigates the problem of interval state and attack signal estimation and fault tolerant consistent control in multi-agent systems under the influence of deception attacks. First, the deception attack signal is transformed into an auxiliary state vector to generate a state-augmented multi-agent system, which makes the estimation problem tractable with a state observer. In addition, an event-triggered mechanism is designed for the observer to reduce unnecessary network communication. Next, a zonotope-based interval estimation technique is investigated to obtain upper and lower bounds for deception-attack estimates consistent with the real environment, taking into account the uncertainty of the system. Furthermore, a leader-follower-based state-consistent control strategy is designed, in which the estimation of the deception-attack signal is incorporated as a compensation to achieve state-consistent control. Finally, the validity of the proposed methodology is verified with VTOLs as an example.