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Safety-Aware Attack-Resilient Control for Multi-Agent Systems under False Data Injection

A containment-control framework for heterogeneous multi-agent systems that keeps followers inside the convex hull of the leaders and collision-free even when observer and control layers suffer false-data-injection attacks whose magnitude grows exponentially in time. It couples a resilient observer layer and a compensating control signal with a control-barrier-function quadratic program, certified by Lyapunov stability analysis.

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Certified Resilient Collision-free Control Framework for Heterogeneous Multi-agent Systems Against

This control-theory letter formulates and solves the safety-aware and attack-resilient (SAAR) containment problem for heterogeneous multi-agent systems whose observer and control-input layers are cor…