Cooperative output regulation of heterogeneous multi-agent systems under false data injection attacks

This paper studies the cooperative output regulation problem for heterogeneous multi-agent systems (MASs) subject to false data injection (FDI) attacks, which means the malicious cyber-attackers may inject false data into the communication topology randomly. To ensure that each follower agent can track the leader agent accurately, we construct both an observer and a control law for each follower agent. Since the FDI attacks may exist in the communication network, a filter with an adaptive compensator, which can estimate attack signals dynamically, is equipped for each observer, such that the filter can neutralize attacks when malicious attackers launch attacks. Therefore, the cooperative output regulation can be achieved under the control law based on the observer no matter whether there exist attacks or not. Finally, a numerical example is provided for validating the theoretical results.