Formation Control of Nonlinear Multi-Agent Systems with Actuator and Communication Attacks

In this paper, we focus on the formation control problems of MAS over a directed graph with actuator and communication attacks. The considered system is composed of a leader, some followers and an attacked communication network. Firstly, a new distributed observer is proposed to estimate the leader information despite communication attacks. Then, for high-order nonlinear systems, we develop an adaptive control strategy to solve the actuator attack by using Nussbaum function and backstepping technique, so that the agent with actuator attacks can follow the leader's trajectory. Finally, a simulation example is proposed to verify the results of this paper.