Predictive Sliding-Mode Control for Networked High-Order Fully Actuated Multiagents Under Random Deception Attacks

This article investigates the coordinated control of networked high-order fully actuated multiagents (NHOFAMAs) under random deception attacks in the feedback and forward channels, where a Bernoulli process is used to denote the launching success rate of random deception attacks. When launching the attacks successfully, the output and control signals are tampered via the injection of false data. A predictive sliding-mode control method is proposed to achieve the security coordination. In this method, a sliding variable for the improvement of the robustness of closed-loop systems is introduced to defend random deception attacks. Then, a Diophantine equation is applied to develop a prediction model in an incremental high-order fully actuated (IHOFA) form. Based on this model, multistep ahead predictions of sliding variables are established to realize the optimization of coordinated control performance and the defense of random deception attacks. By utilizing the Lyapunov function and linear matrix inequalities (LMIs) approach, a necessary and sufficient condition is given to maintain the stability and consensus of closed-loop NHOFAMAs. The feasibility and practicability of the proposed method can be illustrated via simulated and experimental results of formation control for air-bearing spacecraft (ABS) simulators.