Output Consensus for the Two-Time-Scale Multi-Agent Systems under FDI attacks

In this paper, the output consensus problem for a class of heterogeneous two-time-scale multi-agent systems vulnerable to false data injection (FDI) attacks is addressed. A distributed observer is intended to cooperatively observe the leader to enhance its ability to execute the consensus task. A security-distributed filter is meant to ensure observer performance, mitigate possible FDI attacks during information exchange, and dynamically estimate the compensation of attack signals. An attack signal compensation approach employs a leader and neighbor compensator. Subsequently, collaborative observation is utilized to design a resilient composite output consensus controller by leveraging singular perturbation theory, which eliminates the numerical stiffness brought on two-time-scale characteristics. Furthermore, simulation results are given to highlight the benefits and efficacy of the proposed approaches.