This letter focuses on fully distributed secure tracking control for leader-following nonlinear multiagent systems subject to multi-link sequence scaling attacks. Firstly, an edge-based adaptive secure tracking control scheme is proposed for followers to counteract the effects of multi-link sequence scaling attacks and can be implemented in a fully distributed fashion. Then, by utilizing the Lipschitz condition and the properties of the Laplacian potential, sufficient conditions for nonlinear multiagent systems with multi-link sequence scaling attacks to achieve secure tracking control are given, where the attack duration that the system can render is presented. Finally, a numerical simulation example is provided to illustrate the theoretical results.

This article investigates completely distributed secure consensus control (SCC) of high-order linear and Lipschitz nonlinear multiagent systems (MASs) in the presence of interaction link attacks, respectively, where the design criteria are independent of the interaction topology and the parameters of interaction link attacks. An estimator-based adaptive SCC protocol is proposed to realize SCC, where coupling weights of the virtual distributed reference state estimator (VDRSE) are adaptively adjusted to eliminate the impacts of interaction link attacks. Then, the leader–follower and leaderless structures are unified into a general directed graph framework by decomposing the Laplacian matrix in terms of the root node and nonroot node, and sufficient conditions for VDRSEs achieving reference state consensus and high-order linear MASs achieving SCC are given, respectively. Moreover, main results of high-order linear MASs are extended to Lipschitz nonlinear MASs. Finally, two numerical examples are presented in order to validate the theoretical results.

Aiming at the problem that the single terrain characteristic parameter cannot comprehensively evaluate the terrain navigability of the matching areas, the weighted vector correlation degree is introduced, and the terrain characteristic parameters such as the standard deviation of terrain elevation, roughness, correlation coefficient, terrain information entropy and terrain slope are comprehensively considered. A multi-index comprehensive decision-making evaluation method based on grey fuzzy theory is proposed. In addition, aiming at the problem that different matching routes have different navigability for the specific terrain, in order to select matching routes with better navigability, a navigation coefficient based on terrain statistical parameters is proposed to analyze the navigability of different routes. And the point mass filter (PMF) algorithm is used to simulate the navigability of the matching areas with different terrain features and matching routes. The simulation results show that the proposed evaluation method and navigation coefficient are feasible in the evaluation of terrain navigability. The stronger the navigability is, the smaller the matching error is and the better the navigation performance is. This research results can provide theoretical basis for analysis of terrain navigability, selection of matching areas and matching routes planning in terrain aided navigation.