Adaptive Control for Constrained Nonlinear Systems Under Deception Attacks and Actuator Saturation

This paper proposes an adaptive control framework for constrained nonlinear systems subject to sensor and actuator deception attacks, in the presence of actuator saturation. To enforce state constraints under sensor attacks, a modified coordinate transformation is integrated with a barrier Lyapunov function (BLF) design, ensuring controller feasibility and constraint satisfaction even when state measurements are compromised. Moreover, the compounded effects of actuator saturation and actuator-side attacks are explicitly analyzed within a unified BLF framework, and an adaptive decoupling-compensation strategy is introduced to mitigate their influence. Simulation results demonstrate the effectiveness and robustness of the proposed approach.