不确定DoS攻击下的异构多智能体系统异步控制器设计

研究了存在不确定拒绝服务(denial of service, DoS)攻击的异构多智能体系统协同控制问题。网络环境的开放性会导致网络攻击的复杂性不断提高,其中,对于一类不确定网络攻击的研究具有重要的现实意义。由于不确定攻击情况下模态获取困难,将导致控制器模态与系统模态产生不匹配问题。首先,正常情况下所有智能体都是时间同步的并且以固定采样周期相互通信,当攻击发生时采用保持输入机制并且假定攻击持续时间是有界的,通过使用马尔可夫切换系统方法来构建该复杂动态系统模型。其次,通过解耦技术将原高维系统转换为两个低维的闭环误差系统,并通过Lyapunov稳定性理论得到了保证异构多智能体系统输出一致性的充分条件。进一步,应用相关矩阵变换方法给出了通过求解一系列矩阵不等式来获得控制器增益的方法。最后,通过基于移动舞台机器人系统的仿真研究验证了本文所提出方法的有效性。与现有结果相比,本文所考虑的攻击概率可以是不确定甚至完全未知的,所设计的异步控制器具有更好的兼容性,即包含了常见的同步控制器以及模型独立控制器。

Design of asynchronous controller for heterogeneous multi-agent system under uncertain DoS attacks

The cooperative control problem of heterogeneous multi-agent systems with uncertain denial of service (DoS) attacks was studied. The openness of network environment will lead to the increasing complexity of network attacks, among which the research on a class of uncertain network attacks is of significance. Due to the difficulty of modal acquisition under uncertain attacks, the mismatch between the controller mode and the system mode will occur. First, in normal circumstance, all agents were time synchronized and they communicated with each other over a fixed sampling period. When an attack occurred, the hold input mechanism was adopted and the attack duration was assumed to be bounded. The complex dynamic system model was constructed by using Markovian switching system method. Next, the original high-dimensional system was transformed into two low-dimensional closed-loop error systems by using the decoupling technology, and sufficient conditions to ensure the output consistency of the heterogeneous multi-agent system were obtained based on the Lyapunov stability theory. Then, the gain of the controller was obtained by solving a series of matrix inequalities through related matrix transform methods. Finally, the effectiveness of the proposed method was verified by the simulation of the mobile stage robot system. Compared with the existing results, the attack probability considered in this study could be uncertain or even completely unknown. The designed asynchronous controller has better compatibility as it covers the common synchronous controller as well as the model independent controller as special cases.