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This work presents a rigorous analysis of the adverse effects ofcyber-physical attacks on discrete-time distributed multi-agent systems, andpropose a mitigation approach for attacks on sensors and actuators. First, weshow how an attack on a compromised agent can propagate and affect intactagents that are reachable from it. This is, an attack on a single nodesnowballs into a network-wide attack and can even destabilize the entiresystem. Moreover, we show that the attacker can bypass the robust $H_{\infty}$control protocol and make it entirely ineffective in attenuating the effect ofthe adversarial input on the system performance. Finally, to overcomeadversarial effects of attacks on sensors and actuators, a distributed adaptiveattack compensator is designed by estimating the normal expected behavior ofagents. The adaptive attack compensator is augmented with the controller and itis shown that the proposed controller achieves secure consensus in presence ofthe attacks on sensors and actuators. This controller does not require to makeany restrictive assumption on the number of agents or agent's neighbors underdirect effect of adversarial input. Moreover, it recovers compromised agentsunder actuator attacks and avoids propagation of attacks on sensors withoutremoving compromised agents. The effectiveness of the proposed controller andanalysis is validated on a network of Sentry autonomous underwater vehiclessubject to attacks under different scenarios.

Attack Analysis and Resilient Control Design for Discrete-time Distributed Multi-agent Systems