Output Synchronization of Heterogeneous Multiagent Systems With Resilience to Link and Actuator Attacks: A Fully Distributed Event-Triggered Mechanism

In this paper, we propose a distributed resilient control method to solve an output synchronization problem for linear heterogeneous multi-agent systems (MASs) in the presence of both link and actuator attacks. A fully distributed event-trigger-based observer is proposed to estimate the state of the leader, where global information is not required and the leader's system matrices are identified in finite time. An intermittent event-triggered mechanism is also designed to avoid continuous monitor triggered conditions. For actuator attacks, a compensator, based on a distributed normal state predictor, is developed to recover paralyzed states. Theoretical analysis shows that an MAS steered by our proposed fully distributed adaptive resilient scheme achieves output synchronization, and Zeno-behaviors are excluded. Finally, a numerical example is provided to verify the effectiveness of our proposed scheme.