Quantization-Based Adaptive Fuzzy Consensus for Multiagent Systems Under Sensor Deception Attacks: A Novel Compensation Mechanism.

This study mainly investigates the adaptive leader-following consensus tracking control problem for a class of nonlinear multiagent systems (MASs) subjected to unknown control directions, external disturbances, and sensor deception attacks. To start with, an equivalent MAS with known control directions is obtained by introducing a linear state transformation. For the purpose of estimating the unavailable system states caused by malicious attacks, a quantization-based fuzzy state observer is designed, and the fuzzy-logic system (FLS) is utilized to approximate nonlinear functions. Moreover, a dynamic uniform quantizer with scaling function is established to reduce information transmission. With the help of coordinate transformation and available compromised states, a novel compensation mechanism is designed to offset the influence of filter errors while avoiding the problem of "explosion of complexity" in the backstepping design process. In addition, the Nussbaum-type function is considered to eliminate the design obstacle of unknown control gains resulting from the attacks. Under the constructed consensus protocol, it is proved theoretically that the consensus tracking error converges to an adjustable small neighborhood of the origin, and all signals in the closed-loop system are bounded. Finally, the feasibility of the provided secure control scheme is verified through two simulation examples.