执行器攻击下开放式异构多智能体系统的自适应输出一致性

李晓东; 温广辉

doi:10.12263/DZXB.20251224

您当前的位置：

首页 >

文章列表页 >

执行器攻击下开放式异构多智能体系统的自适应输出一致性

学术论文 | 更新时间：2026-05-28

- 执行器攻击下开放式异构多智能体系统的自适应输出一致性
- Adaptive Output Consensus of Heterogeneous Open Multi-Agent Systems under Actuator Attacks
- 电子学报 2026年54卷第2期页码：698-709
- 作者机构：
  
  1.东南大学数学学院，江苏南京 211189
  2.东南大学自动化学院，江苏南京 210096
- 作者简介：
  
  李晓东男，1995年6月出生于山东省泰安市。现为东南大学数学学院数学专业博士研究生。主要研究方向为多智能体系统、攻击检测与分布式控制。E-mail: 230208654@seu.edu.cn
  温广辉 1983年10月出生于河南省平顶山市。现为东南大学自动化学院首席教授、博士生导师。主要研究方向为智能系统、复杂网络化系统、分布式控制与优化、弹性控制与强化学习。E-mail: ghwen@seu.edu.cn
- 基金信息：
  
  国家自然科学基金(62325304)
- DOI：10.12263/DZXB.20251224
  中图分类号： TP273;TP13
- 收稿：2026-01-20，
  
  录用：2026-02-24，
  
  纸质出版：2026-02-25
- 稿件说明：
移动端阅览
李晓东, 温广辉. 执行器攻击下开放式异构多智能体系统的自适应输出一致性[J]. 电子学报, 2026, 54(02): 698-709.

LI Xiaodong, WEN Guanghui. Adaptive Output Consensus of Heterogeneous Open Multi-Agent Systems under Actuator Attacks[J]. Acta Electronica Sinica, 2026, 54(02): 698-709.
李晓东, 温广辉. 执行器攻击下开放式异构多智能体系统的自适应输出一致性[J]. 电子学报, 2026, 54(02): 698-709. DOI：10.12263/DZXB.20251224

LI Xiaodong, WEN Guanghui. Adaptive Output Consensus of Heterogeneous Open Multi-Agent Systems under Actuator Attacks[J]. Acta Electronica Sinica, 2026, 54(02): 698-709. DOI：10.12263/DZXB.20251224

摘要

本文研究了受到执行器攻击的开放式异构多智能体系统的自适应输出一致性问题。在复杂的工业互联网与现代集群系统应用场景中，多智能体系统常因任务编组调整、通信链路波动、节点故障与动态接入等因素而呈现出显著的开放式特性，具体表现为系统节点集合与整体维数随时间演化，通信拓扑呈现时变、间歇性连通与重构切换等复杂特性，从而使群体动力学结构与可获得信息结构具有更强的时变性与不确定性。与此同时，分布式控制信号通常需要经由网络化通道传输并在执行器端接收并执行，一旦攻击者在执行器侧进行恶意数据注入，控制输入将被叠加未知干扰甚至被篡改为具有误导性的指令，从而导致智能体实际执行行为偏离预期并破坏协同一致性，显著增加分布式控制设计与一致性分析的难度。针对上述挑战，本文首先利用智能体的输出信息构造了一种具有攻击免疫能力的降阶观测器，在不对执行器攻击进行显式估计的前提下获取控制所需的局部状态信息，降低了估计成本。在此基础上，本文进一步设计了一种完全分布式的自适应弹性控制协议，该协议仅利用相邻智能体之间的交互信息及本地观测量即可在线调节耦合增益与攻击补偿参数，实现对攻击影响的抑制以及对拓扑不确定性的自适应处理。该方法不需要任何全局拓扑信息与攻击上界信息，因此能够适应开放式网络环境下的节点数量动态变化以及拓扑切换等情形，具有良好的可扩展性与工程可实现性。为刻画开放式异构多智能体系统的结构特性与误差演化机理，本文建立了一种用于描述系统跟踪误差演化的统一分析框架，并在该框架下推导了执行器攻击存在时实现输出一致性的平均驻留时间条件，从而给出拓扑切换频率与系统收敛性能之间的关系。最后，通过数值仿真对所提出方法进行验证，并与现有算法进行对比。结果表明在相同攻击条件与网络环境下，本文方法能够有效抑制攻击对群体行为的影响并提升收敛速度，从而验证了所提出降阶观测器与完全分布式自适应弹性控制策略的有效性与优势。

Abstract

This paper investigates the adaptive output consensus problem of heterogeneous open multi-agent systems under actuator attacks. In complex application scenarios such as the industrial internet and modern cluster systems

multi-agent systems often exhibit open characteristics due to task reconfiguration

fluctuations in communication links

node faults

and dynamic joining/leaving. Specifically

the node set and the overall system dimension may evolve over time

and the communication topology may exhibit time-varying behavior

intermittent connectivity

and reconstruction-induced switching. These characteristics make both the collective dynamics and the available information structure strongly time-varying and uncertain. Meanwhile

distributed control signals typically need to be transmitted through networked channels and received and executed at the actuator. Once an attacker injects malicious data into the actuators

the control inputs can be superimposed with unknown disturbances or even tampered into misleading commands

causing the agents’ actual behaviors to deviate from their intended actions and thereby destroying cooperative consensus. These issues significantly increase the difficulty of distributed controller design and consensus analysis. To address these challenges

an attack-free reduced-order observer is designed based solely on output information. Without explicitly estimating actuator attacks

the proposed observer provides the local state information required for control design

thereby reducing the estimation cost. Building upon this

a fully distributed adaptive resilient control protocol is developed. The protocol relies solely on local observations and interaction information exchanged among neighboring agents to adjust the coupling gains and attack-compensation parameters online

achieving both suppression of attack effects and adaptive handling of topology uncertainties. Notably

the proposed method requires neither any global topology information nor prior knowledge of attack bounds. Thus

it is well suited to open network environments with dynamically changing numbers of nodes and topology switching

offering excellent scalability and practical implementability. To characterize the structural properties and error propagation mechanism of heterogeneous open multi-agent systems

a unified analytical framework is established to describe the evolution of the tracking error. Based on this framework

an average dwell-time condition is derived to guarantee output consensus of the system under actuator attacks

thereby revealing the relationship between the topology switching rate and the system’s convergence performance. A numerical simulation is provided to demonstrate the effectiveness of the proposed approach and to compare it with existing algorithms. The results show that

under the same attack conditions and network settings

the proposed method effectively mitigates the impact of attacks on collective behaviors and improves the convergence speed

thereby demonstrating the effectiveness and advantages of the proposed reduced-order observer and fully distributed adaptive resilient control strategy.

关键词

Keywords

references

温广辉 , 余星火 , 黄廷文 , 等 . 模型参数不确定下多无人艇系统固定时间二分编队跟踪控制 [J ] . 自动化学报 , 2025 , 51 ( 3 ): 669 - 677 .

Wen Guanghui , Yu Xinghuo , Huang Tingwen , et al . Fixed-time bipartite formation tracking control for multi-USV systems with uncertain model parameters [J ] . Acta Automatica Sinica , 2025 , 51 ( 3 ): 669 - 677 . (in Chinese)

Dong Jiawei , Yassine A , Armitage A , et al . Multi-agent reinforcement learning for intelligent V2G integration in future transportation systems [J ] . IEEE Transactions on Intelligent Transportation Systems , 2023 , 24 ( 12 ): 15974 - 15983 . DOI: 10.1109/tits.2023.3284756 http://dx.doi.org/10.1109/tits.2023.3284756

Yu Tao , Wang Haizhu , Zhou Bin , et al . Multi-agent correlated equilibrium Q(λ) learning for coordinated smart generation control of interconnected power grids [J ] . IEEE Transactions on Power Systems , 2015 , 30 ( 4 ): 1669 - 1679 . DOI: 10.1109/tpwrs.2014.2357079 http://dx.doi.org/10.1109/tpwrs.2014.2357079

王健安 , 闫慧娴 , 赵志诚 . 事件触发策略下多移动机器人抗干扰固定时间编队控制 [J ] . 电子学报 , 2023 , 51 ( 5 ): 1256 - 1265 .

Wang Jianan , Yan Huixian , Zhao Zhicheng . Anti-disturbance fixed-time formation control of multi-mobile robots via event-triggered mechanism [J ] . Acta Electronica Sinica , 2023 , 51 ( 5 ): 1256 - 1265 . (in Chinese)

伍瀚 , 孙浩 , 计科峰 , 等 . 时序信息引导跨视角特征融合的多无人机多目标跟踪方法 [J ] . 电子学报 , 2025 , 53 ( 3 ): 728 - 743 .

Wu Han , Sun Hao , Ji Kefeng , et al . Temporal-guided cross-view feature fusion network for multi-drone multi-object tracking [J ] . Acta Electronica Sinica , 2025 , 53 ( 3 ): 728 - 743 . (in Chinese)

Wen Guanghui , Yu Wenwu , Yu Xinghuo , et al . Complex cyber-physical networks: From cybersecurity to security control [J ] . Journal of Systems Science and Complexity , 2017 , 30 ( 1 ): 46 - 67 . DOI: 10.1007/s11424-017-6181-x http://dx.doi.org/10.1007/s11424-017-6181-x

Li Zhongkui , Duan Zhisheng , Lewis F L . Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties [J ] . Automatica , 2014 , 50 ( 3 ): 883 - 889 . DOI: 10.1016/j.automatica.2013.12.008 http://dx.doi.org/10.1016/j.automatica.2013.12.008

Li Yifei , Wang Xin , Sun Jian , et al . Self-triggered consensus control of multiagent systems from data [J ] . IEEE Transactions on Automatic Control , 2024 , 69 ( 7 ): 4702 - 4709 . DOI: 10.1109/tac.2024.3351865 http://dx.doi.org/10.1109/tac.2024.3351865

吴忠强 , 程洪强 . 网络攻击下考虑状态受限的微电网安全运行与控制 [J ] . 电子学报 , 2024 , 52 ( 9 ): 3240 - 3250 . DOI: 10.12263/DZXB.20221092 http://dx.doi.org/10.12263/DZXB.20221092

Wu Zhongqiang , Cheng Hongqiang . Safe operation and control of microgrid considering state constraints under network attacks [J ] . Acta Electronica Sinica , 2024 , 52 ( 9 ): 3240 - 3250 . (in Chinese) . DOI: 10.12263/DZXB.20221092 http://dx.doi.org/10.12263/DZXB.20221092

江碧涛 , 温广辉 , 周佳玲 , 等 . 智能无人集群系统跨域协同技术研究现状与展望 [J ] . 中国工程科学 , 2024 , 26 ( 1 ): 117 - 126 . DOI: 10.15302/j-sscae-2024.01.015 http://dx.doi.org/10.15302/j-sscae-2024.01.015

Jiang Bitao , Wen Guanghui , Zhou Jialing , et al . Cross-domain cooperative technology of intelligent unmanned swarm systems: Current status and prospects [J ] . Strategic Study of CAE , 2024 , 26 ( 1 ): 117 - 126 . (in Chinese) . DOI: 10.15302/j-sscae-2024.01.015 http://dx.doi.org/10.15302/j-sscae-2024.01.015

Adib Yaghmaie F , Lewis F L , Su Rong . Output regulation of linear heterogeneous multi-agent systems via output and state feedback [J ] . Automatica , 2016 , 67 : 157 - 164 . DOI: 10.1016/j.automatica.2016.01.040 http://dx.doi.org/10.1016/j.automatica.2016.01.040

贾枭 , 席建祥 , 刘光斌 , 等 . 基于脉冲控制的时延异构多智能体编队控制 [J ] . 电子学报 , 2018 , 46 ( 12 ): 2957 - 2963 .

Jia Xiao , Xi Jianxiang , Liu Guangbin , et al . Formation control for heterogeneous multi-agent systems with communication delays based on impulsive control [J ] . Acta Electronica Sinica , 2018 , 46 ( 12 ): 2957 - 2963 . (in Chinese)

Huang Jie . Nonlinear output regulation [M ] . Philadelphia : Society for Industrial and Applied Mathematics , 2004 .

Luo Dahui , Wang Yujuan , Li Zeqiang , et al . Asymptotic leader-following consensus of heterogeneous multi-agent systems with unknown and time-varying control gains [J ] . IEEE Transactions on Automation Science and Engineering , 2025 , 22 : 2768 - 2779 . DOI: 10.1109/tase.2024.3384400 http://dx.doi.org/10.1109/tase.2024.3384400

Zhou Jialing , Lv Yuezu , Wen Guanghui , et al . Resilient consensus of multiagent systems under malicious attacks: Appointed-time observer-based approach [J ] . IEEE Transactions on Cybernetics , 2022 , 52 ( 10 ): 10187 - 10199 . DOI: 10.1109/tcyb.2021.3058094 http://dx.doi.org/10.1109/tcyb.2021.3058094

张文雨 , 徐勇 , 孙健 , 等 . 网络攻击下多智能体系统攻击检测设计与分布式弹性控制 [J ] . 自动化学报 , 2025 , 51 ( 10 ): 2347 - 2358 .

Zhang Wenyu , Xu Yong , Sun Jian , et al . Attack detection design and distributed resilient control of multi-agent systems under cyber-attacks [J ] . Acta Automatica Sinica , 2025 , 51 ( 10 ): 2347 - 2358 . (in Chinese)

Huo Shicheng , Huang Dalin , Zhang Ya . Secure output synchronization of heterogeneous multi-agent systems against false data injection attacks [J ] . Science China Information Sciences , 2022 , 65 ( 6 ): 162204 . DOI: 10.1007/s11432-020-3148-x http://dx.doi.org/10.1007/s11432-020-3148-x

Yang Yang , Qi Chang , Qian Yue , et al . Output synchronization of heterogeneous multiagent systems with resilience to link and actuator attacks: A fully distributed event-triggered mechanism [J ] . IEEE Transactions on Control of Network Systems , 2023 , 10 ( 4 ): 1695 - 1706 . DOI: 10.1109/tcns.2023.3237490 http://dx.doi.org/10.1109/tcns.2023.3237490

Wen Guanghui , Zheng Weixing . On constructing multiple Lyapunov functions for tracking control of multiple agents with switching topologies [J ] . IEEE Transactions on Automatic Control , 2019 , 64 ( 9 ): 3796 - 3803 . DOI: 10.1109/tac.2018.2885079 http://dx.doi.org/10.1109/tac.2018.2885079

Demazeau Y , Costa A C R . Populations and organizations in open multi-agent systems [C ] // Proceedings of the 1st National Symposium on Parallel and Distributed AI , Hyderabad , 1996 : 1 - 13 .

Hayashi N . Distributed subgradient method in open multiagent systems [J ] . IEEE Transactions on Automatic Control , 2023 , 68 ( 10 ): 6192 - 6199 . DOI: 10.1109/tac.2022.3230771 http://dx.doi.org/10.1109/tac.2022.3230771

Li Xiaodong , Lv Yuezu , Wen Guanghui , et al . Tracking consensus of multi-agent systems with varying number of agents under actuator attacks [J ] . IEEE Transactions on Circuits and Systems II: Express Briefs , 2023 , 70 ( 12 ): 4514 - 4518 . DOI: 10.1109/tcsii.2023.3289847 http://dx.doi.org/10.1109/tcsii.2023.3289847

Xue Mengqi , Tang Yang , Ren Wei , et al . Stability of multi-dimensional switched systems with an application to open multi-agent systems [J ] . Automatica , 2022 , 146 : 110644 . DOI: 10.1016/j.automatica.2022.110644 http://dx.doi.org/10.1016/j.automatica.2022.110644

Li Xiaodong , Wen Guanghui , Lv Yuezu , et al . Output consensus tracking of heterogeneous open multiagent systems under actuator attacks [J ] . IEEE Transactions on Control of Network Systems , 2026 , 13 ( 1 ): 423 - 435 . DOI: 10.1109/tcns.2025.3648473 http://dx.doi.org/10.1109/tcns.2025.3648473

Das A , Lewis F L . Distributed adaptive control for synchronization of unknown nonlinear networked systems [J ] . Automatica , 2010 , 46 ( 12 ): 2014 - 2021 . DOI: 10.1016/j.automatica.2010.08.008 http://dx.doi.org/10.1016/j.automatica.2010.08.008

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

非平衡有向图下欧拉-拉格朗日群体智能系统分布式时变优化

变论域自适应模糊控制器的CMOS模拟电路芯片实现

融合视觉与几何推理的地下车位全场景检测算法

面向边缘物联网的双教师蒸馏式轻量化入侵检测

基于时滞FlipIt博弈与多智能体强化学习的欺骗防御时机选取方法