Dynamic Leader-Following Bipartite Consensus of Multiple Uncertain Euler-Lagrange Systems Under Deception Attacks

In this paper, we mainly focus on the problem of leader-following (LF) bipartite consensus of multiple uncertain Euler-Lagrange systems (ELSs) under the influence of deception attacks. In contrast to existing results, we consider the exosystem with an auxiliary system in this paper, of which auxiliary system is dynamic, and both exosystem and auxiliary system can greatly enrich the reference signal and make our control scheme more flexible. However, due to the presence of deception attacks and the dynamic auxiliary system, we are confronted with the question of whether the system can properly achieve LF bipartite consensus despite the effects of both previously mentioned. To solve this problem, we define a so-called dynamic leader-following problem, where the tracking error is bounded and decays to zero in a dynamic manner. Finally, we design an adaptive distributed control law with a filter to remove the effect of deception attacks, which is combined with the existing results to solve the LF bipartite consensus problem.