Mitigating the Effects of Sensor and Actuator Attacks in Uncertain Networked Multiagent Systems

Networked multiagent systems consist of interacting agents that locally exchange information. Since these systems do not in general have a centralized architecture to monitor the activity of each agent, resilient distributed control system design for networked multiagent systems is essential in providing high system performance, reliability, and operation in the presence of system uncertainties. An important set of classes of such system uncertainties that can significantly deteriorate the achievable closed-loop system performance is sensor, actuator, and plant uncertainties, with sensor and actuator uncertainty possibly arising due to adversarial sensor and actuator compromise. This paper presents a novel distributed robust adaptive control architecture for leader-follower networked multiagent systems with undirected communication graph topologies to mitigate the effects of time-varying sensor and actuator attacks, and timeinvariant plant parameter uncertainty. The proposed adaptive control architecture guarantees uniform ultimate boundedness of the controlled closed-loop system. Finally, two numerical examples are provided to illustrate the efficacy of the proposed distributed robust adaptive control architecture.