Fully distributed secure observation and consensus for multi-agent systems with uncertain communication topology.

This article investigates the fully distributed secure observation and consensus problem for networked multi-agent systems (MASs) with uncertain communication topology. The complexities of dual-channel false data injection (FDI) attacks and fuzzy communication among agents are considered, bringing direct challenges to the acquisition of system states and the design of consensus protocols. To address these difficulties, on the one hand, adaptive coupling weights that vary with observation and consensus errors are neatly designed to avoid the use of global topology information in the whole mechanism. On the other hand, an auxiliary observation system is constructed based on intermediate variables to realize the simultaneous estimation of system states and dual-channel FDI attacks. After that, a distributed attack compensation controller that can guarantee secure consensus among agents is proposed. Finally, a simulation example and an experiment compared with existing results are given to examine the feasibility and advantages of the developed strategy.