This paper studies the output containment control of linear heterogeneous multi-agent systems, where the system dynamics and even the state dimensions can generally be different. Since the states can have different dimensions, standard results from state containment control do not apply. Therefore, the control objective is to guarantee the convergence of the output of each follower to the dynamic convex hull spanned by the outputs of leaders. This can be achieved by making certain output containment errors go to zero asymptotically. Based on this formulation, two different control protocols, namely, full-state feedback and static output-feedback, are designed based on internal model principles. Sufficient local conditions for the existence of the proposed control protocols are developed in terms of stabilizing the local followers' dynamics and satisfying a certain H _∞ criterion. Unified design procedures to solve the proposed two control protocols are presented by formulation and solution of certain local state-feedback and static output-feedback problems, respectively. Numerical simulations are given to validate the proposed control protocols.

This paper investigates the time-varying output formation-containment control of general linear homogeneous and heterogeneous multi-agent systems (MAS). This control aims at making each follower's output reach an agreement on the time-varying formation reference, namely, the centroid of the multiple leaders' outputs, and keep a predefined time-varying offset with respect to it. Distributed static output-feedback (OPFB) and dynamic OPFB control protocols are first constructed for homogeneous and heterogeneous MAS, respectively, using only neighboring relative output information and a time-varying formation compensation signal. It is proved that the time-varying output formation-containment problem is solved by making certain output formation-containment errors go to zero asymptotically. Then, local sufficient conditions and explicit local design procedures are provided for both homogeneous and heterogeneous MAS. It is shown that the state/output consensus problems, the state/output containment problems, the state/output formation control problems, the time-varying state/output formation-tracking problems with a single leader, and target enclosing problems of homogeneous/heterogeneou

This paper develops a fully distributed attack-resilient secondary control framework for DC microgrids, in the presence of unknown unbounded attacks on control input channels. The secondary control of each converter consists of an average consensus-based voltage regulator and a consensus-based current regulator that use relative information from neighboring converters. This distributed control manner relies on localized control and a sparse communication network and, therefore, could be prone to malicious attacks that deteriorate the consensus performance and even destabilize the overall microgrids. In contrast to the existing remedies for bounded disturbances/noises, this paper considers unknown attacks that are intentionally unbounded to maximize their damage on the microgrid. A fully distributed adaptive attack-resilient secondary control framework is established for DC microgrids to mitigate the adverse effect of unbounded attacks. Rigorous proofs, based on Lyapunov techniques, show that the proposed method guarantees the uniformly ultimately bounded convergence for both global voltage regulation and proportional load sharing objectives under unbounded attacks. Moreover, the asymptotic stability of the overall closed-loop microgrid system is achieved in the presence of bounded attacks. Experimental results are illustrated in a hardware-in-the-loop environment to validate the effectiveness of the proposed approach.

This paper considers a cooperative and adversarial AC microgrid system consisting of cooperative leaders and inverters, as well as adversarial attackers. The attackers aim to destabilize the synchronization dynamics of the AC microgrid by first intercepting the communication channels, penetrating the local state feedback, and pretending to be a cooperative neighbor, and then initiating malicious attacks by launching unbounded injections. A fully distributed resilient control framework is offered for the secondary frequency regulation and voltage containment to ensure system stability and preserve bounded synchronization. In particular, a virtual resilient layer with hidden networks is developed to integrate with the original cyber-physical layer. The proposed resilient control framework is fully distributed without requiring any global information. A modified IEEE 34-bus test feeder benchmark system is emulated in a controller/hardware-in-the-loop environment, where the control objectives are met under different attack scenarios.

This paper investigates optimal robust output containment problem of general linear heterogeneous multiagent systems (MAS) with completely unknown dynamics. A modelbased algorithm using offline policy iteration (PI) is first developed, where the p-copy internal model principle is utilized to address the system parameter variations. This offline PI algorithm requires the nominal model of each agent, which may not be available in most real-world applications. To address this issue, a discounted performance function is introduced to express the optimal robust output containment problem as an optimal output-feedback design problem with bounded L ₂ -gain. To solve this problem online in real time, a Bellman equation is first developed to evaluate a certain control policy and find the updated control policies, simultaneously, using only the state/output information measured online. Then, using this Bellman equation, a model-free off-policy integral reinforcement learning algorithm is proposed to solve the optimal robust output containment problem of heterogeneous MAS, in realtime, without requiring any knowledge of the system dynamics. Simulation results are provided to verify the effectiveness of the proposed method.

This article designs a fully distributed resilient control method for networked multigroup systems in the face of unknown unbounded false data injection (FDI) attacks. The considered multigroup systems contain cooperative agents and adversarial attackers. FDI attacks on the multigroup systems include unknown unbounded injections on the local feedback state and communication channels among the network topology. A fully distributed resilient control method is proposed to guarantee the uniformly ultimately bounded containment convergence. In particular, the proposed method consists of the original cyber-physical layer and a virtual resilient layer. The method is further refined to deal with the case when both cyber-physical and virtual layers are subjected to unknown unbounded attacks. The efficacy of the proposed results is first validated on two simulation examples for both linear and nonlinear multigroup systems, and then evaluated on a modified IEEE 34-bus feeder system, emulated in a controller/hardware-in-the-loop experimental platform, to regulate frequency and voltage for islanded microgrid against malicious attacks.