Prescribed-Time Cluster Consensus Control of HMASs Under Actuator Faults and FDI Attacks

Security and reliability are crucial for distributed coordination of heterogeneous multi-agent systems (HMASs). Therefore, this article focuses on the prescribed-time cluster consensus control problem for a class of HMASs composed of unmanned surface vehicles and autonomous aerial vehicles in the presence of actuator faults and false data injection (FDI) attacks. Firstly, to meet the prescribed-time requirement, a practical prescribed-time stability criterion related to time base generator is established for the cluster consensus design and analysis of HMASs. Secondly, based on the hierarchical control framework, a prescribed-time cluster state estimator is designed for HMASs with time-varying communication topology to achieve reliable estimation of the output trajectory of the cluster leader under FDI attacks in the cyber layer, and a prescribed-time synchronization tracking controller is designed for each agent with the help of neural networks to maintain the desired formation configuration under actuator faults in the physical layer. Finally, the simulation results verify the effectiveness of the proposed scheme.