A Distributed Output Feedback Adaptive Controller for Leader-Follower Multiagent Systems with Stochastic Disturbances and Sensor-Actuator Attacks

In this paper, we develop distributed output feedback adaptive consensus control protocols for addressing networked multiagent systems subject to exogenous stochastic disturbances and sensor and actuators attacks. Specifically, for a class of linear leader-follower multiagent systems with an undirected communication graph topology we develop an output feedback adaptive control design protocol for each follower agent to address malicious attacks on the actuator signals of the follower agents as well as sensor attacks on the output neighborhood synchronization errors measurements. The proposed adaptive controllers involve an indirect adaptive architecure that estimates and compensates for the malicious attacks while guaranteeing uniform ultimate boundedness of the state tracking error for each agent in a mean-square sense.