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<p>This work addresses the generalized output consensus problem of constrained multi-agent systems (MASs) by proposing a novel zero-trust architecture (ZTA)-based distributed model predictive control (DMPC) strategy for nonlinear MASs under adversarial attacks. Each agent calculates a trust value, reflecting the trustworthiness of neighboring agents under the ZTA principles. This trust is then integrated into the local cost function, dynamically adjusting reliance on cooperative information based on the evolving communication environment. The DMPC problem introducing artificial reference is solved at each instant, enabling generalized output consensus without external guidance, while supporting plug-and-play (PnP) operations with guaranteed performance and improved scalability. Moreover, sufficient conditions for the recursive feasibility of the DMPC and closed-loop stability are derived. The effectiveness of the proposed ZTA-based DMPC is validated through quadcopter examples.</p>

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Zero-trust Architecture Based DMPC for Generalized Output Consensus of Nonlinear Multi-agent Systems Under Adversarial Attacks

  • 期刊论文

  • 发表日期：

    2025年10月16日

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  • Xiaotian Zhang,
  • Defeng He,
  • Haiping Du,
  • Darong Huang

摘要

This work addresses the generalized output consensus problem of constrained multi-agent systems (MASs) by proposing a novel zero-trust architecture (ZTA)-based distributed model predictive control (DMPC) strategy for nonlinear MASs under adversarial attacks. Each agent calculates a trust value, reflecting the trustworthiness of neighboring agents under the ZTA principles. This trust is then integrated into the local cost function, dynamically adjusting reliance on cooperative information based on the evolving communication environment. The DMPC problem introducing artificial reference is solved at each instant, enabling generalized output consensus without external guidance, while supporting plug-and-play (PnP) operations with guaranteed performance and improved scalability. Moreover, sufficient conditions for the recursive feasibility of the DMPC and closed-loop stability are derived. The effectiveness of the proposed ZTA-based DMPC is validated through quadcopter examples.