Fuzzy ESO-Based Appointed-Time Prescribed Performance Consensus Control Under Intermittent Deception Attack

This article investigates the consensus control problem with appointed-time prescribed-performance for nonstrict-feedback second-order nonlinear multi-agent systems (NMASs) subjected to intermittent deception attacks. Unknown system dynamics and unmeasurable states aggravate the difficulty of controller design, especially to guarantee that system tracking errors are confined within the preset bound when attacks occur. To address the above-mentioned problem, a fuzzy extended-state observer (ESO) is established to approximate unknown nonlinearities and estimate the unmeasurable states, utilizing the extended term to relieve the influence of deception attacks. On this basis, an appointed-time prescribed-performance sliding mode control strategy is proposed by constraining the sliding manifold within a preset accuracy for the appointed-time regardless of the deception attacks, which ensures the transient and state-stable behaviors of system errors satisfying the performance function demands. Finally, through a series of numerical simulations and comparative experiments, the effectiveness of the studied control algorithm is verified, and the error 1-norm is reduced by 16 times, and the sliding mode error is less than 0.006.