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This paper considers the defense strategy of strategic topology switching forthe second-order multi-agent system under zero-dynamics attack (ZDA) whoseattack-starting time is allowed to be not the initial time. We first study thedetectability of ZDA, which is a sufficient and necessary condition ofswitching topologies in detecting the attack. Based on the detectability, aLuenberger observer under switching topology is proposed to detect the stealthyattack. The primary advantages of the attack-detection algorithm are twofold:(i) in detecting ZDA, the algorithm allows the defender (system operator) tohave no knowledge of the attack-starting time and the misbehaving agents (i.e.,agents under attack); (ii) in tracking system in the absence of attacks,Luenberger observer has no constraint on the magnitudes of observer gains andthe number of observed outputs, i.e., only one agent's observed output issufficient. Simulations are provided to verify the effectiveness of thestrategic topology-switching algorithm.

Novel Defense Strategy Against Zero-Dynamics Attack in Multi-Agent Systems