Leader-Following Consensus of Multiple Euler-Lagrange Systems Under Deception Attacks

In this paper, the leader-following consensus problem of a multi-Euler-Lagrange system is studied under deception attacks, where attackers can inject the false data into the data being exchanged over the communication network between two Euler-Lagrange systems. A distributed adaptive filter is proposed to compensate the unknown injection false data, where the magnitude of the false data is estimated. Meanwhile, the performance of the multiple Euler-Lagrange system consensus with the proposed filter can be guaranteed to be similar to that with the traditional controller when the communication network is not injected into false data by a malicious attacker. Furthermore, the consensus criteria of a multiple Euler-Lagrange system and the parameter design scheme of the proposed adaptive filter are achieved by using Lyapunov stability theory. Finally, a numerical example is carried out to demonstrate the effectiveness of the proposed consensus controller for a multi-Euler-Lagrange system attacked by using the false data injection.