Page 59 - Read Online

Page 10 of 13 Ding et al. Complex Eng Syst 2023;3:7 I http://dx.doi.org/10.20517/ces.2023.06

The path of agents
20
leader
0 follower 1
follower 2
-20 follower 3
follower 4
-40

-60

-80

-100

-120
0 20 40 60 80 100 120 140

Figure 4. The trajectories of the MASs under the adaptive SMC law (18). SMC: sliding mode control.

agent 1 agent 2
10 30
e1 e1
11 21
e1 e1
12 22
20
e 1 5 e 1
10

0 0
0 2 4 6 8 10 0 2 4 6 8 10
time/s time/s

agent 3 agent 4
15 30
e1 e1
31 41
e1 20 e1
10 32 42
e 1 e 1 10
5
0

0 -10
0 2 4 6 8 10 0 2 4 6 8 10
time/s time/s

Figure 5. The position error 1 ( ) of the followers in Figure 5A-D. A: Position error of the 1st agent; B: Position error of the 2nd agent; C:
Position error of the 3rd agent; D: Position error of the 4th agent.

5. CONCLUSION
This work considered the consensus control problem of MASs under deception attacks and fading channels.
Due to the fading channels, the position and velocity errors cannot be calculated accurately. To solve this
problem, the consensus tracking error variables have been designed based on the fading data received from
neighbor agents. Meanwhile, the distributed adaptive SMC strategy via fading information has been proposed
to deal with the time-varying and unknown deception attacks injected by the hacker. Utilizing the proposed