This paper studies the secure consensus control problem of multi-agent systems under DoS attacks on the sensor, the actuator, and the communication topology. A resilient intermediate estimator based attack tolerant control strategy is proposed. By fully exploiting the hardware redundancies, both of the estimators and the control protocols can be reconstructed online according to different DoS attack scenarios. Finally, the experiment results of the networked multi-axis motion control system are given to verify the effectiveness of the proposed method.

中文翻译：

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一种新颖的基于中间估计器的多智能体系统安全共识控制及其在网络多轴运动同步中的应用

本文研究了在传感器，执行器和通信拓扑受到DoS攻击的情况下，多智能体系统的安全共识控制问题。提出了一种基于弹性中间估计量的容错控制策略。通过充分利用硬件冗余，可以根据不同的DoS攻击场景在线重建估计器和控制协议。最后，给出了网络化多轴运动控制系统的实验结果，验证了该方法的有效性。