Hybrid fuzzy-MPC approach for secure consensus in time-delayed multi-robot networks under sensor and actuator attacks

Document Type : Original Manuscript

Authors

1 Hefei Technology College, Hefei, 230012, Anhui, PR China

2 Department of Mathematics, Faculty of Sciences, University of Mianwali, 42200, Mianwali, Punjab, Pakistan

3 Faculty of Educational Sciences, Al-Ahliyya Amman University, Amman 19328, Jordan

4 Department of Mathematics and Statistics, The University of Lahore, Sargodha 40100, Pakistan

5 Department of Mathematics, College of Science University of Ha’il, Ha’il 2440, Saudi Arabia.

10.22111/ijfs.2026.53689.9505

Abstract

This paper addresses the consensus problem in multi-robot systems subject to time delays, unknown nonlinearities, and cyber-physical attacks. To effectively handle uncertainties and mitigate the adverse effects of malicious disruptions, a Type-3 fuzzy logic system is introduced to construct a robust hybrid control framework. The considered network is exposed to sensor attacks, actuator attacks, and Byzantine disruptions, where particular emphasis is placed on mitigating sensor and actuator attacks.
The proposed controller is designed to achieve two main objectives: minimizing the consensus error among robots and maintaining balanced update behavior during communication processes. Further more, a constrained control strategy based on Model Predictive Control (MPC) is incorporated to optimize resource utilization and enhance system security. By embedding security constraints into the MPC formulation, the proposed approach effectively reduces the influence of sensor attacks on the networked robots. To validate the effectiveness of the developed framework, the Duffing-Holmes chaotic system is employed as a benchmark model, demonstrating improved performance under communication delays and cyber-physical disturbances. In addition, Lyapunov-Krasovskii functional analysis combined with Linear Matrix Inequalities (LMIs) is utilized to establish the convergence and stability conditions of the multi-robot network. Finally, extensive simulation results are provided to verify the theoretical findings and demonstrate the robustness and effectiveness of the proposed strategy under attack scenarios and time-delay conditions.

Keywords

Main Subjects

References

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Iranian Journal of Fuzzy Systems
Volume 23, Issue 5
September and October 2026
Pages 37-66

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