Distributed Adaptive Secure Consensus Tracking Control for Asynchronous Switching Nonlinear MASs Under Sensor Attacks and Actuator Faults

A distributed adaptive secure control algorithm is proposed for asynchronous switching nonlinear multi-agent systems (MASs) in pure-feedback form while considering the sensor attacks and actuator faults, which eliminates the effect of attack signals, actuator faults and uncertainties without knowing the sign of the control gain functions. Since the system states measured by the sensors are corrupted by the malicious attacker, only the post-attack system states can be obtained. Thus, an improved coordinate transformation is constructed by using the post-attack system states and a backstepping method based on the improved coordinate transformation is developed to solve the consensus tracking control problem of the researched systems under sensor attacks. The common Lyapunov function is designed to ensure the stability of all asynchronous switching subsystems of each agent. In the end, a simulation example is presented to illustrate the theoretical results' validity.