Distributed Adaptive Bipartite Containment Control for Nonlinear Multiagent Systems Under Deception Attacks and Actuator Faults

This article addresses the problem of distributed adaptive bipartite containment control for nonlinear multiagent systems under deception attacks and actuator faults. By constructing a modified coordinate transformation and designing a Lyapunov function based on predefined accuracy functions, a control scheme is developed that ensures bipartite containment errors converge to a user-defined value, even under deception attacks. To handle unknown time-varying attack signals and actuator faults, a two-step approach is employed in controller design. This guarantees that 1) the outputs of the followers converge to the convex hull formed by the leaders with cooperative relationships, and 2) all closed-loop signals remain bounded. Finally, the effectiveness of the proposed method is demonstrated through a simulation of an RLC circuit system.