Adaptive Consensus of Distributed Varying Scale Wireless Sensor Networks under Tolerable Jamming Attacks

Figure 3

The dynamic states of 𝑋_𝑘, 𝑌_𝑘, attack signals, and the update law of 𝜀_𝜅2 in topology 2.

(a) The dynamic states of all sensors

(b) The errors among the average values and states of all nodes, where 𝑒^𝑖(𝑡)=𝑦_𝑖(𝑡),𝑖=1,2,3,4,5

(c) 𝑠₁(𝑡) is the attack signal, 𝑠₂(𝑡)=𝜀_𝜅2

(d) 𝑓₁(𝑡),𝑓₂(𝑡),𝑓₅(𝑡) stand the measured attack signals by nodes 1, 2, and 5, respectively