Resilient Coordination of Nonlinear Uncertain Lagrangian Systems With Adversarial Agents: A Norm-Based Approach
Xiaoyuan Luo, Yuliang Fu, Jian‐Ge Wang, Xiaolei Li, Xinping Guan, Yuyan Zhang · IEEE Transactions on Industrial Informatics · 2023
In this article, the resilient coordination problem of networked Lagrangian systems with adversarial agents is considered. A novel algorithm called norm-based resilient decision algorithm is proposed to exclude the impact of adversarial agents. To ensure the coordination of networked Lagrangian systems, the maximum number of adversarial agents related to the robustness of the communication network is given. Under the proposed resilient consensus algorithm, secure coordination is guaranteed under adversarial agents. Then, the proposed resilient controller is extended to static formation scenarios. Finally, the effectiveness of the proposed method is demonstrated through case studies and experiments. Compared to the existing results, the proposed algorithm can reduce computing resources by designing auxiliary vectors and converting them into scalars to remove extreme values.