If monsters are changed from defense mode to attack mode during the battle phase can the monsters attack

Yes, if you control a monster in defense mode and it is changed to attack mode during the Battle Phase by a card effect, it can attack. The "Zero Gravity" Trap card is an example of a card that can switch your monsters' battle position during the Battle Phase. But if the monster already attacked that turn, was switched to defense mode, then changed to attack mode again by an effect, it cannot attack again on that same turn.