{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T18:35:21Z","timestamp":1781375721513,"version":"3.54.1"},"reference-count":107,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,3,7]],"date-time":"2023-03-07T00:00:00Z","timestamp":1678147200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["61803319"],"award-info":[{"award-number":["61803319"]}]},{"name":"National Natural Science Foundation of China","award":["61903278"],"award-info":[{"award-number":["61903278"]}]},{"name":"National Natural Science Foundation of China","award":["20210207"],"award-info":[{"award-number":["20210207"]}]},{"name":"National Natural Science Foundation of China","award":["KFY2206"],"award-info":[{"award-number":["KFY2206"]}]},{"name":"National Natural Science Foundation of China","award":["3502Z20201015"],"award-info":[{"award-number":["3502Z20201015"]}]},{"name":"Foundation of State Key Laboratory of Automotive Simulation and Control","award":["61803319"],"award-info":[{"award-number":["61803319"]}]},{"name":"Foundation of State Key Laboratory of Automotive Simulation and Control","award":["61903278"],"award-info":[{"award-number":["61903278"]}]},{"name":"Foundation of State Key Laboratory of Automotive Simulation and Control","award":["20210207"],"award-info":[{"award-number":["20210207"]}]},{"name":"Foundation of State Key Laboratory of Automotive Simulation and Control","award":["KFY2206"],"award-info":[{"award-number":["KFY2206"]}]},{"name":"Foundation of State Key Laboratory of Automotive Simulation and Control","award":["3502Z20201015"],"award-info":[{"award-number":["3502Z20201015"]}]},{"name":"State Key Laboratory of Automotive Safety and Energy","award":["61803319"],"award-info":[{"award-number":["61803319"]}]},{"name":"State Key Laboratory of Automotive Safety and Energy","award":["61903278"],"award-info":[{"award-number":["61903278"]}]},{"name":"State Key Laboratory of Automotive Safety and Energy","award":["20210207"],"award-info":[{"award-number":["20210207"]}]},{"name":"State Key Laboratory of Automotive Safety and Energy","award":["KFY2206"],"award-info":[{"award-number":["KFY2206"]}]},{"name":"State Key Laboratory of Automotive Safety and Energy","award":["3502Z20201015"],"award-info":[{"award-number":["3502Z20201015"]}]},{"name":"Major Science and ATechnology Projects of Xiamen of China","award":["61803319"],"award-info":[{"award-number":["61803319"]}]},{"name":"Major Science and ATechnology Projects of Xiamen of China","award":["61903278"],"award-info":[{"award-number":["61903278"]}]},{"name":"Major Science and ATechnology Projects of Xiamen of China","award":["20210207"],"award-info":[{"award-number":["20210207"]}]},{"name":"Major Science and ATechnology Projects of Xiamen of China","award":["KFY2206"],"award-info":[{"award-number":["KFY2206"]}]},{"name":"Major Science and ATechnology Projects of Xiamen of China","award":["3502Z20201015"],"award-info":[{"award-number":["3502Z20201015"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Due to the openness of communication network and the complexity of system structures, multi-agent systems are vulnerable to malicious network attacks, which can cause intense instability to these systems. This article provides a survey of state-of-the-art results of network attacks on multi-agent systems. Recent advances on three types of attacks, i.e., those on DoS attacks, spoofing attacks and Byzantine attacks, the three main network attacks, are reviewed. Their attack mechanisms are introduced, and the attack model and the resilient consensus control structure are discussed, respectively, in detail, in terms of the theoretical innovation, the critical limitations and the change of the application. Moreover, some of the existing results along this line are given in a tutorial-like fashion. In the end, some challenges and open issues are indicated to guide future development directions of the resilient consensus of multi-agent system under network attacks.<\/jats:p>","DOI":"10.3390\/s23062904","type":"journal-article","created":{"date-parts":[[2023,3,8]],"date-time":"2023-03-08T02:08:14Z","timestamp":1678241294000},"page":"2904","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Resilient Consensus Control for Multi-Agent Systems: A Comparative Survey"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1013-5374","authenticated-orcid":false,"given":"Jingyao","family":"Wang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Automotive Simulation and Control, Changchun 130025, China"},{"name":"School of Aerospace Engineering, Xiamen University, Xiamen 361000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0588-0380","authenticated-orcid":false,"given":"Xingming","family":"Deng","sequence":"additional","affiliation":[{"name":"School of Aerospace Engineering, Xiamen University, Xiamen 361000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinghua","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Aerospace Engineering, Xiamen University, Xiamen 361000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zeqin","family":"Zeng","sequence":"additional","affiliation":[{"name":"School of Aerospace Engineering, Xiamen University, Xiamen 361000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,7]]},"reference":[{"key":"ref_1","first-page":"13","article-title":"Review of the development and application of multi-agent technology","volume":"54","author":"Li","year":"2018","journal-title":"Comput. Eng. Appl."},{"key":"ref_2","first-page":"221","article-title":"Design of a heterogeneous multi-platform sensor management and intelligent control system","volume":"5","author":"Mou","year":"2019","journal-title":"J. Command. Control"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Wang, J., Deng, X., Guo, J., Luo, Y., and Li, K. (2022). A fully distributed anti-windup control protocol for intelligent-connected electric vehicles platooning with switching topologies and input saturation. IEEE\/ASME Trans. Mechatron.","DOI":"10.1109\/TMECH.2022.3226208"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Guo, J., Li, L., Wang, J., and Li, K. (2022). Cyber-physical system-based path tracking control of autonomous vehicles under cyber-attacks. IEEE Trans. Ind. Inf.","DOI":"10.1109\/TII.2022.3206354"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Fortino, G., Russo, W., and Savaglio, C. (2016, January 11\u201314). Agent-oriented Modeling and Simulation of IoT Networks. Proceedings of the Federated Conference on Computer Science and Information Systems (FedCSIS), Gdansk, Poland.","DOI":"10.15439\/2016F359"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Mascardi, V., and Weyns, D. (2018, January 14\u201315). Engineering Multi-agent Systems Anno 2025. Proceedings of the 6th International Workshop on Engineering Multi-Agent Systems (EMAS), Stockholm, Sweden.","DOI":"10.1007\/978-3-030-25693-7_1"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Kampik, T., Amaral, C.J., and Hubner, J.F. (2021, January 3\u20134). Developer Operations and Engineering Multi-agent Systems. Proceedings of the 9th International Workshop on Engineering Multi-Agent Systems (EMAS), Virtual Event.","DOI":"10.1007\/978-3-030-97457-2_10"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"2209","DOI":"10.1109\/TITS.2018.2865546","article-title":"Nonlinear consensus-based connected vehicle platoon control incorporating car-following interactions and heterogeneous time delays","volume":"20","author":"Li","year":"2019","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_9","first-page":"87","article-title":"Agent-based technology in intelligent vehicles and drivin: State-of-the-art and prospect","volume":"5","author":"Shen","year":"2019","journal-title":"J. Command. Control"},{"key":"ref_10","first-page":"90","article-title":"Consensus computation in unreliable networks: A system theoretic approach","volume":"57","author":"Pasqualetti","year":"2012","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Zhang, T., and Li, Z. (2020, January 27\u201329). Resilient Network-level Design of Leader-follower Multi-agent Systems Against DoS Attacks. Proceedings of the 39th Chinese Control Conference (CCC), Shenyang, China.","DOI":"10.23919\/CCC50068.2020.9189455"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Ma, L.F., Wang, Z.D., and Yuan, Y. (2016, January 7\u20138). Consensus Control for Nonlinear Multi-Agent Systems Subject to Deception Attacks. Proceedings of the 22nd International Conference on Automation & Computing (ICAC), Colchester, UK.","DOI":"10.1109\/IConAC.2016.7604888"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Su, L.L., and Vaidya, N. (2016, January 6\u20138). Multi-Agent Optimization in the Presence of Byzantine Adversaries: Fundamental Limits. Proceedings of the American Control Conference (ACC), Boston, MA, USA.","DOI":"10.1109\/ACC.2016.7526806"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"628","DOI":"10.1109\/JAS.2020.1003542","article-title":"Resilience Against Replay Attacks: A Distributed Model Predictive Control Scheme for Networked Multi-Agent Systems","volume":"8","author":"Franze","year":"2021","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Sizkouhi, A., Rahimifard, M., and Selmic, R. (2022, January 9\u201312). Covert Attack and Detection Through Deep Neural Network on Vision-Based Navigation Systems of Multi-Agent Autonomous Vehicles. Proceedings of the 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Prague, Czech Republic.","DOI":"10.1109\/SMC53654.2022.9945210"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Wang, S., Zheng, S., Zhao, C., Jian, H., and Li, H. (2021, January 26\u201328). Formation control of nonlinear multi-agent systems with actuator and communication attacks. Proceedings of the 40th Chinese Control Conference (CCC), Shanghai, China.","DOI":"10.23919\/CCC52363.2021.9549302"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Ahmadzadeh, M., Ahmadi, M., Babahaji, M., and Sharifi, I. (2019, January 20\u201321). Resilient Consensus in Double-Integrator Systems with Switching Networks Facing Smart Attacks. Proceedings of the 7th International Conference on Robotics and Mechatronics (ICRoM), Sharif Univ Technol, Tehran, Iran.","DOI":"10.1109\/ICRoM48714.2019.9071915"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Gulzar, M.M., Rizvi, S.T.H., Javed, M.Y., Munir, U., and Asif, H. (2018). Multi-agent cooperative control consensus: A comparative review. Electronics, 7.","DOI":"10.3390\/electronics7020022"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1109\/TSMC.2020.3042823","article-title":"A survey on intelligent control for multi-agent systems","volume":"51","author":"Shi","year":"2021","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"784","DOI":"10.1109\/JAS.2022.105548","article-title":"A survey of cyber attacks on cyber physical systems: Recent advantages and challenges","volume":"9","author":"Duo","year":"2022","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"2624","DOI":"10.1080\/00207721.2022.2053893","article-title":"Recent advances in event-triggered security of networked systems: A survey","volume":"53","author":"Wu","year":"2022","journal-title":"Int. J. Syst. Sci."},{"key":"ref_22","first-page":"425","article-title":"A survey of the security issues and defense mechanisms of multi-agent systems","volume":"15","author":"Ding","year":"2020","journal-title":"CAAI Trans. Intell. Syst."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"6310","DOI":"10.1109\/TAC.2022.3184053","article-title":"Distributed anti-windup consensus control of heterogeneous multi-agent systems over Markovian randomly switching topologies","volume":"67","author":"Wang","year":"2022","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"2708","DOI":"10.1109\/JIOT.2022.3213853","article-title":"Design of switching controller for connected vehicles platooning with intermittent communication via mode-dependent average dwell-time approach","volume":"10","author":"Wang","year":"2023","journal-title":"IEEE Internet Things J."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"2168","DOI":"10.1002\/rnc.5370","article-title":"A performance region-based approach to the H\u221e leader-following consensus of nonlinear multiagent systems","volume":"31","author":"Wang","year":"2021","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"ref_26","unstructured":"Persis, C.D., and Tesi, P. (2014, January 24\u201329). Resilient control under denial-of-service. Proceedings of the 19th IFAC Congress, Cape Town, South Africa."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"455","DOI":"10.1109\/TSMC.2017.2697450","article-title":"Distributed dimensionality reduction fusion estimation for cyber-physical systems under DoS attacks","volume":"49","author":"Chen","year":"2019","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"4035","DOI":"10.1109\/TAC.2019.2890887","article-title":"Secure and privacy-preserving consensus","volume":"64","author":"Ruan","year":"2019","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Cardenas, A.A., Amin, S., and Sastry, S. (2008, January 17\u201320). Secure control: Towards survivable cyber-physical systems. Proceedings of the 28th International Conference on Distributed Computing Systems Workshops, Washington, DC, USA.","DOI":"10.1109\/ICDCS.Workshops.2008.40"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"741","DOI":"10.1109\/TCST.2019.2892032","article-title":"Secure cooperative event-triggered control of linear multiagent systems under DoS attacks","volume":"28","author":"Feng","year":"2020","journal-title":"IEEE Trans. Control. Technol."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"3468","DOI":"10.1109\/TCYB.2019.2918402","article-title":"Event-based secure consensus of mutiagent systems against DoS attacks","volume":"50","author":"Xu","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"3224","DOI":"10.1109\/TAC.2014.2351871","article-title":"A passivity framework for modeling and mitigating wormhole attacks on networked control systems","volume":"59","author":"Lee","year":"2014","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"779","DOI":"10.1109\/TSMC.2016.2616544","article-title":"Security control for discrete-time stochastic nonlinear systems subject to deception attacks","volume":"48","author":"Ding","year":"2018","journal-title":"IEEE Trans. Syst. Man Cybern.-Syst."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"2757","DOI":"10.1016\/j.automatica.2011.09.011","article-title":"Distributed fault detection for interconnected second-order systems","volume":"47","author":"Shames","year":"2011","journal-title":"Automatica"},{"key":"ref_35","first-page":"3264","article-title":"A fully distributed robust secure consensus protocol for linear multi-agent systems","volume":"69","author":"Wang","year":"2022","journal-title":"IEEE Trans. Circuits Syst. II Express Briefs"},{"key":"ref_36","unstructured":"Foroush, H.S., and Martinez, S. (2012, January 10\u201313). On event-triggered control of linear systems under periodic denial-of-service jamming attacks. Proceedings of the IEEE 51st Annual Conference on Decision and Control, Maui, HI, USA."},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Du, S., Yan, Q., Gao, Y., and Wang, C. (2020, January 27\u201329). Secure consensus of multiagent systems with input saturation and DoS attacks. Proceedings of the 39th Chinese Control Conference (CCC), Shenyang, China.","DOI":"10.23919\/CCC50068.2020.9188364"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"1455","DOI":"10.1109\/TSMC.2018.2875250","article-title":"Input-based event-triggering consensus of multiagent systems under denial-of-service attacks","volume":"50","author":"Xu","year":"2020","journal-title":"IEEE Trans. Syst. Man Cybern.-Syst."},{"key":"ref_39","first-page":"540","article-title":"Review of distributed event-trigger control in multi-agent system","volume":"12","author":"Zhang","year":"2020","journal-title":"J. Nanjing Univ. Inf. Sci. Technol. (Nat. Sci. Ed.)"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"1291","DOI":"10.1109\/TAC.2011.2174666","article-title":"Distributed event-triggered control for multi-agent systems","volume":"57","author":"Dimarogonas","year":"2012","journal-title":"Trans. Autom. Control"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1680","DOI":"10.1109\/TAC.2007.904277","article-title":"Event-triggered real-time scheduling of stabilizing control tasks","volume":"52","author":"Tabuada","year":"2007","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1109\/TCNS.2018.2795703","article-title":"Differentially private consensus with an event-triggered mechanism","volume":"6","author":"Gao","year":"2019","journal-title":"IEEE Trans. Control. Netw. Syst."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"1273","DOI":"10.1109\/TCYB.2016.2544062","article-title":"Distributed secure coordinated control for multiagent systems under strategic attacks","volume":"47","author":"Feng","year":"2017","journal-title":"IEEE Trans. Cybern."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"150208","DOI":"10.1007\/s11432-019-2687-7","article-title":"Event-trigger-based consensus secure control of linear multi-agent systems under DoS attacks over multiple transmission channels","volume":"63","author":"Yang","year":"2020","journal-title":"Sci. China-Inf. Sci."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"3300","DOI":"10.1109\/TAC.2018.2874703","article-title":"Dynamic event-triggered and self-triggered control for multi-agent systems","volume":"64","author":"Yi","year":"2019","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"5365","DOI":"10.1109\/TAC.2017.2693824","article-title":"Event-Triggered Control of Multiagent Systems for Fixed and Time-Varying Network Topologies","volume":"62","author":"Cheng","year":"2017","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"1736","DOI":"10.1109\/TSMC.2017.2744671","article-title":"Event-triggered control for consensus of multiagent systems With fixed\/switching topologies","volume":"48","author":"Wu","year":"2018","journal-title":"IEEE Trans. Syst. Man Cybern.-Syst."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"458","DOI":"10.1016\/j.neucom.2019.03.089","article-title":"Distributed event-triggered consensus of multi-agent systems under periodic DoS jamming attacks","volume":"400","author":"Cheng","year":"2020","journal-title":"Neurocomputing"},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"42","DOI":"10.1016\/j.automatica.2017.01.031","article-title":"Resilient control under denial-of-service: Robust design","volume":"79","author":"Feng","year":"2017","journal-title":"Automatica"},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"3709","DOI":"10.1109\/TCYB.2019.2921811","article-title":"Control synthesis of hidden semi-Markov uncertain fuzzy systems via observations of hidden modes","volume":"50","author":"Cai","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"896","DOI":"10.1002\/rnc.3342","article-title":"Distributed consensus tracking for multi-agent systems under two types of attacks","volume":"26","author":"Feng","year":"2016","journal-title":"Int. J. Robust Nonlinear Control"},{"key":"ref_52","unstructured":"Feng, Z., and Hu, G. (2014, January 24\u201329). Distributed tracking control for multi-agent systems under two types of attacks. Proceedings of the 19th IFAC World Congress, Cape Town, South Africa."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"1936","DOI":"10.1109\/TCYB.2016.2582802","article-title":"Observer-based event-triggering consensus control for multiagent systems with lossy sensors and cyber-attacks","volume":"47","author":"Ding","year":"2017","journal-title":"IEEE Trans. Cybern."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"2633","DOI":"10.1016\/j.automatica.2014.08.024","article-title":"Decentralized event-triggered consensus with general linear dynamics","volume":"50","author":"Garcia","year":"2014","journal-title":"Automatica"},{"key":"ref_55","doi-asserted-by":"crossref","first-page":"3137","DOI":"10.1109\/TNNLS.2018.2890119","article-title":"Event\/self-triggered control for leader-following consensus over unreliable network with DoS attacks","volume":"30","author":"Xu","year":"2019","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"ref_56","doi-asserted-by":"crossref","unstructured":"Senejohnny, D., Tesi, P., and De Persis, C. (2015, January 15\u201318). Self-triggered coordination over a shared network under denial-of-service. Proceedings of the 54th IEEE Conference on Decision and Control, Osaka, Japan.","DOI":"10.1109\/CDC.2015.7402756"},{"key":"ref_57","unstructured":"Shi, M. (2019). Research on Network Security and Optimization of Control System Based on Game Theory. [Master\u2019s Thesis, Yanshan University]."},{"key":"ref_58","unstructured":"Singh, M.P. (2015, January 4). Cyber security as an application domain for multiagent systems. Proceedings of the 14th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Istanbul, Turkey."},{"key":"ref_59","doi-asserted-by":"crossref","first-page":"183495","DOI":"10.1109\/ACCESS.2020.3029765","article-title":"Multi-agent based cyber attack detection and mitigation for distribution automation system","volume":"8","author":"Choi","year":"2020","journal-title":"IEEE Access"},{"key":"ref_60","doi-asserted-by":"crossref","first-page":"240","DOI":"10.1016\/j.neucom.2020.04.109","article-title":"Security control of multi-agent systems under false data injection attacks","volume":"404","author":"Zuo","year":"2020","journal-title":"Neurocomputing"},{"key":"ref_61","doi-asserted-by":"crossref","first-page":"1334","DOI":"10.1109\/TCST.2011.2160543","article-title":"Design and implementation of secure networked predictive control systems under deception attacks","volume":"20","author":"Pang","year":"2012","journal-title":"IEEE Trans. Control. Technol."},{"key":"ref_62","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/1952982.1952995","article-title":"False data injection attacks against state estimation in electric power grids","volume":"14","author":"Liu","year":"2011","journal-title":"ACM Trans. Inf. Syst."},{"key":"ref_63","doi-asserted-by":"crossref","first-page":"1619","DOI":"10.1109\/TII.2018.2863256","article-title":"False data injection attacks with limited susceptance information and new countermeasures in smart grid","volume":"15","author":"Deng","year":"2019","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_64","doi-asserted-by":"crossref","unstructured":"Wu, S., Guo, Z., Shi, D., Johansson, K.H., and Shi, L. (2017, January 24\u201326). Optimal innovation-based deception attack on remote state estimation. Proceedings of the 2017 American Control Conference, Seattle, WA, USA.","DOI":"10.23919\/ACC.2017.7963410"},{"key":"ref_65","doi-asserted-by":"crossref","first-page":"1163","DOI":"10.1109\/TCYB.2020.2982168","article-title":"Adaptive fault-tolerant tracking control for discrete-time multiagent systems via reinforcement learning algorithm","volume":"51","author":"Li","year":"2021","journal-title":"IEEE Trans. Cybern."},{"key":"ref_66","doi-asserted-by":"crossref","first-page":"369","DOI":"10.1109\/LRA.2019.2959726","article-title":"Attack analysis and resilient control design for discrete-time distributed multi-agent systems","volume":"5","author":"Mustafa","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_67","doi-asserted-by":"crossref","first-page":"1326","DOI":"10.1109\/JAS.2020.1003297","article-title":"Secure impulsive synchronization in Lipschitz-type multi-agent systems subject to deception attacks","volume":"7","author":"He","year":"2020","journal-title":"IEEE-CAA J. Autom. Sin."},{"key":"ref_68","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1016\/j.ins.2018.04.020","article-title":"Secure impulsive synchronization control of multi-agent systems under deception attacks","volume":"459","author":"He","year":"2018","journal-title":"Inf. Sci."},{"key":"ref_69","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1109\/TSMC.2019.2894946","article-title":"Reliable Leader-to-Follower Formation Control of Multiagent Systems Under Communication Quantization and Attacks","volume":"50","author":"Huang","year":"2020","journal-title":"IEEE Trans. Syst. Man Cybern.-Syst."},{"key":"ref_70","doi-asserted-by":"crossref","first-page":"4868","DOI":"10.1109\/TII.2019.2933596","article-title":"Resilient consensus of discrete-time complex cyber-physical networks under deception attacks","volume":"16","author":"Fu","year":"2020","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_71","doi-asserted-by":"crossref","first-page":"766","DOI":"10.1109\/JSAC.2013.130413","article-title":"Resilient asymptotic consensus in robust networks","volume":"31","author":"LeBlanc","year":"2013","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"ref_72","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1109\/TCNS.2017.2648508","article-title":"Detection against linear deception attacks on multi-sensor remote state estimation","volume":"5","author":"Li","year":"2018","journal-title":"IEEE Trans. Control. Netw. Syst."},{"key":"ref_73","doi-asserted-by":"crossref","first-page":"9724","DOI":"10.1109\/TIE.2019.2952802","article-title":"Anomaly detection and identification for multiagent systems subjected to physical faults and cyberattacks","volume":"67","author":"Li","year":"2020","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_74","doi-asserted-by":"crossref","first-page":"176","DOI":"10.1016\/j.automatica.2017.09.028","article-title":"State estimation under false data injection attacks: Security analysis and system protection","volume":"87","author":"Hu","year":"2018","journal-title":"Automatica"},{"key":"ref_75","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1016\/j.automatica.2016.12.026","article-title":"Distributed recursive filtering for stochastic systems under uniform quantizations and deception attacks through sensor networks","volume":"78","author":"Ding","year":"2017","journal-title":"Automatica"},{"key":"ref_76","doi-asserted-by":"crossref","first-page":"1808","DOI":"10.1049\/iet-cta.2016.0135","article-title":"Event-based security control for discrete-time stochastic systems","volume":"10","author":"Ding","year":"2016","journal-title":"IET Control Theory Appl."},{"key":"ref_77","doi-asserted-by":"crossref","first-page":"4281","DOI":"10.1109\/TII.2019.2952067","article-title":"Detection and mitigation of false data injection attacks in networked control systems","volume":"16","author":"Sargolzaei","year":"2020","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_78","doi-asserted-by":"crossref","first-page":"3159","DOI":"10.1109\/TAC.2018.2793164","article-title":"Competitive interaction design of cooperative systems against attacks","volume":"63","author":"Gusrialdi","year":"2018","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_79","unstructured":"Zhang, H., and Sundaram, S. (2012, January 27\u201329). Robustness of information diffusion algorithms to locally bounded adversaries. Proceedings of the 2012 American Control Conference, Montreal, QC, Canada."},{"key":"ref_80","doi-asserted-by":"crossref","unstructured":"Usevitch, J., and Panagou, D. (2017, January 12\u201315). r-Robustness and (r,s)-Robustness of Circulant Graphs. Proceedings of the 2017 IEEE 56th Annual Conference on Decision and Control, Melbourne, Australia.","DOI":"10.1109\/CDC.2017.8264310"},{"key":"ref_81","doi-asserted-by":"crossref","first-page":"2508","DOI":"10.1109\/TAC.2017.2771363","article-title":"Resilient randomized quantized consensus","volume":"63","author":"Dibaji","year":"2018","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_82","doi-asserted-by":"crossref","first-page":"1755","DOI":"10.1109\/TAC.2019.2934954","article-title":"Resilient leader-follower consensus to arbitrary reference values in time-varying graphs","volume":"65","author":"Usevitch","year":"2020","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_83","unstructured":"Yan, H. (2019). Research on Distributed Security Mechanism of Multi-Agent System. [Master\u2019s Thesis, Hangzhou Dianzi University]."},{"key":"ref_84","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1109\/TCNS.2019.2924235","article-title":"Resilient consensus through event-based communication","volume":"7","author":"Wang","year":"2020","journal-title":"IEEE Trans. Control Netw. Syst."},{"key":"ref_85","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1016\/j.automatica.2018.06.035","article-title":"Periodic event-triggered sliding mode control","volume":"96","author":"Behera","year":"2018","journal-title":"Automatica"},{"key":"ref_86","doi-asserted-by":"crossref","first-page":"3104","DOI":"10.1109\/TAC.2019.2947620","article-title":"Resilient output containment of heterogeneous cooperative and adversarial multigroup systems","volume":"65","author":"Zuo","year":"2020","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_87","doi-asserted-by":"crossref","first-page":"1095","DOI":"10.1049\/iet-cta.2017.1068","article-title":"Static output-feedback synchronisation of multi-agent systems: A secure and unified approach","volume":"12","author":"Hamidreza","year":"2018","journal-title":"IET Control Theory Appl."},{"key":"ref_88","doi-asserted-by":"crossref","first-page":"2715","DOI":"10.1109\/TAC.2013.2266831","article-title":"Attack detection and identification in cyber-physical systems","volume":"58","author":"Pasqualetti","year":"2013","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_89","doi-asserted-by":"crossref","first-page":"1495","DOI":"10.1109\/TAC.2010.2088690","article-title":"Distributed function calculation via linear iterative strategies in the presence of malicious agents","volume":"56","author":"Sundaram","year":"2011","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_90","doi-asserted-by":"crossref","first-page":"1454","DOI":"10.1109\/TAC.2014.2303233","article-title":"Secure estimation and control for cyber-physical systems under adversarial attacks","volume":"59","author":"Fawzi","year":"2014","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_91","doi-asserted-by":"crossref","unstructured":"Dibaji, S.M., and Ishii, H. (2014, January 4\u20136). Resilient consensus of double-integrator multi-agent systems. Proceedings of the 2014 American Control Conference, Portland, OR, USA.","DOI":"10.1109\/ACC.2014.6859500"},{"key":"ref_92","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1016\/j.automatica.2017.07.037","article-title":"Decentralized adaptive fault-tolerant control for large-scale systems with external disturbances and actuator faults","volume":"85","author":"Xie","year":"2017","journal-title":"Automatica"},{"key":"ref_93","doi-asserted-by":"crossref","first-page":"123","DOI":"10.1016\/j.automatica.2017.03.008","article-title":"Resilient consensus of second-order agent networks: Asynchronous update rules with delays","volume":"81","author":"Dibaji","year":"2017","journal-title":"Automatica"},{"key":"ref_94","doi-asserted-by":"crossref","first-page":"1219","DOI":"10.1109\/TCNS.2017.2696364","article-title":"Resilient first-order consensus and weakly stable, higher order synchronization of continuous-time networked multiagent systems","volume":"5","author":"LeBlanc","year":"2018","journal-title":"IEEE Trans. Control Netw. Syst."},{"key":"ref_95","doi-asserted-by":"crossref","first-page":"222","DOI":"10.1007\/s10957-018-1268-7","article-title":"Game-theory-based consensus learning of double-integrator agents in the presence of worst-case adversaries","volume":"177","author":"Vamvoudakis","year":"2018","journal-title":"J. Optim. Theory Appl."},{"key":"ref_96","doi-asserted-by":"crossref","unstructured":"Usevitch, J., and Panagou, D. (2018, January 27\u201329). Resilient leader-follower consensus to arbitrary reference values. Proceedings of the 2018 Annual American Control Conference, Milwaukee, WI, USA.","DOI":"10.23919\/ACC.2018.8431573"},{"key":"ref_97","doi-asserted-by":"crossref","unstructured":"Abbas, W., Vorobeychik, Y., and Koutsoukos, X. (2014, January 19\u201321). Resilient consensus protocol in the presence of trusted nodes. Proceedings of the 2014 7th International Symposium on Resilient Control Systems, Denver, CO, USA.","DOI":"10.1109\/ISRCS.2014.6900100"},{"key":"ref_98","doi-asserted-by":"crossref","first-page":"2036","DOI":"10.1109\/TCNS.2017.2782486","article-title":"Improving network connectivity and robustness using trusted nodes with application to resilient consensus","volume":"5","author":"Abbas","year":"2018","journal-title":"IEEE Trans. Control Netw. Syst."},{"key":"ref_99","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1109\/TCNS.2016.2573741","article-title":"A graph-theoretic characterization of perfect attackability for secure design of distributed control systems","volume":"4","author":"Weerakkody","year":"2017","journal-title":"IEEE Trans. Control Netw. Syst."},{"key":"ref_100","doi-asserted-by":"crossref","first-page":"3471","DOI":"10.1109\/TAC.2019.2945032","article-title":"Secure state estimation for multiagent systems with faulty and malicious agents","volume":"65","author":"Lu","year":"2020","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_101","doi-asserted-by":"crossref","first-page":"1401","DOI":"10.1177\/09544070211043352","article-title":"Event-triggered control of vehicle platoon under deception attacks","volume":"236","author":"Bansal","year":"2022","journal-title":"Proc. Inst. Mech. Eng. Part D J. Automob. Eng."},{"key":"ref_102","doi-asserted-by":"crossref","first-page":"3893","DOI":"10.1109\/TITS.2018.2791484","article-title":"Real-Time Detection and Estimation of Denial of Service Attack in Connected Vehicle Systems","volume":"19","author":"Biron","year":"2018","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_103","doi-asserted-by":"crossref","unstructured":"Gallo, A., Turan, M., Nahata, P., Boem, F., Parisini, T., and Ferrari-Trecate, G. (2018, January 12\u201315). Distributed Cyber-Attack Detection in the Secondary Control of DC Microgrids. Proceedings of the European Control Conference (ECC), Limassol, Cyprus.","DOI":"10.23919\/ECC.2018.8550549"},{"key":"ref_104","doi-asserted-by":"crossref","first-page":"4689","DOI":"10.1109\/TVT.2020.2983565","article-title":"An Adaptive Resilient Load Frequency Controller for Smart Grids With DoS Attacks","volume":"69","author":"Lu","year":"2020","journal-title":"IEEE Trans. Veh. Technol."},{"key":"ref_105","doi-asserted-by":"crossref","first-page":"177447","DOI":"10.1109\/ACCESS.2020.3026923","article-title":"A Survey of Denial-of-Service Attacks and Solutions in the Smart Grid","volume":"8","author":"Huseinovic","year":"2020","journal-title":"IEEE Access"},{"key":"ref_106","doi-asserted-by":"crossref","first-page":"465","DOI":"10.1109\/TCYB.2018.2865238","article-title":"Distributed H\u221e Estimation in Sensor Networks With Two-Channel Stochastic Attacks","volume":"50","author":"Song","year":"2020","journal-title":"IEEE Trans. Cybern."},{"key":"ref_107","unstructured":"Lee, S., and Min, B. (2021). Distributed Control of Multi-Robot Systems in the Presence of Deception and Denial of Service Attacks. arXiv."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/6\/2904\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:50:11Z","timestamp":1760122211000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/6\/2904"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,3,7]]},"references-count":107,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2023,3]]}},"alternative-id":["s23062904"],"URL":"https:\/\/doi.org\/10.3390\/s23062904","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,3,7]]}}}