This article aims to investigate the security consensus and composite anti-disturbance problems for a class of nonlinear multi-agent systems subjected to stochastic false data injection attacks (FDIAs) and multiple disturbances under a directed communication topology. To attenuate and reject of the negative effects of two types of disturbances, a disturbance observer (DO) is designed to counteract the disturbance produced by exogenous system, and the $\mathcal {H}_\infty $ control method is adopted to attenuate the bounded errors and variables caused by the other type of disturbances and FDIAs simultaneously. To ensure the consensus performance of MASs, an observer-based control strategy is designed, and a novel adaptive compensation technique is proposed to not only evaluate the upper bounds of the unknown but bounded disturbances but also improve the accuracy of the state observer. Furthermore, a novel event-triggered mechanism (ETM) without requiring continuous communication among neighboring agents is developed to reduce the controller update frequency and the communication burden. Meanwhile, Zeno behavior is excluded. Finally, numerical simulations are provided to verify the availability of the designed method. Note to Practitioners—In multi-agent systems, network security is very important. For example, in smart power grid systems, it is necessary to use the method of state estimation to observe the system to guarantee its safe operation. However, the measured value of the instrument may be affected by FDIAs in the transmission process, thus changing the result of state estimation and causing misjudgment of the system. Similarly, in multi-vehicle systems, FDIAs may destroy the location information of vehicles and cause serious accidents. In addition, the system will be subjected to different types of disturbances in practice, thus reducing the performance of the system. In view of the threat of FDIAs and disturbances to the MAS, a composite anti-disturbance method and an observer-based control strategy are proposed. Meanwhile, to avoid the limitation of communication bandwidth in reality, a novel ETM is developed to save network resources.

中文翻译：

---

多重扰动和随机FDIA下多智能体系统基于观察者的事件触发复合抗扰控制


本文旨在研究定向通信拓扑下遭受随机虚假数据注入攻击（FDIA）和多重干扰的一类非线性多智能体系统的安全共识和复合抗干扰问题。为了衰减和抑制两类扰动的负面影响，设计扰动观测器（DO）来抵消外源系统产生的扰动，并采用$\mathcal {H}_\infty $控制方法来衰减由其他类型的干扰和 FDIA 同时引起的有限误差和变量。为了确保MAS的一致性能，设计了基于观测器的控制策略，并提出了一种新颖的自适应补偿技术，不仅可以评估未知但有界扰动的上限，而且可以提高状态观测器的准确性。此外，开发了一种新颖的事件触发机制（ETM），无需相邻代理之间的持续通信，以减少控制器更新频率和通信负担。同时，芝诺行为也被排除在外。最后，通过数值模拟验证了所设计方法的有效性。从业者须知——在多代理系统中，网络安全非常重要。例如，在智能电网系统中，需要采用状态估计的方法来观测系统以保证其安全运行。但仪器的测量值在传输过程中可能会受到FDIA的影响，从而改变状态估计的结果，造成系统的误判。同样，在多车辆系统中，FDIA 可能会破坏车辆的位置信息并导致严重事故。 另外，系统在实际应用中会受到不同类型的干扰，从而降低系统的性能。针对FDIA的威胁和对MAS的干扰，提出了复合抗干扰方法和基于观测器的控制策略。同时，为了避免现实中通信带宽的限制，开发了一种新颖的ETM来节省网络资源。