Formation tracking for the heterogeneous multi-agents under deception attacks: an impulsive control approach

• Published in: 2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA) pp. 355 - 360
• Main Authors: Ma, Lei, Ye, Hongmei, Gu, Bin, Zhang, Ying, Yang, Chunyu, Zhou, Linna, Wang, Guoqing
• Format: Conference Proceeding
• Language: English
• Published: IEEE 14.07.2023
• Subjects: Control systems; Deception attack; Formation control; Heterogeneous multi-agents system; Impulsive control; Protocols; Reliability; Resilient output formation tracking; Shape; State feedback; Trajectory
• DOI: 10.1109/CFASTA57821.2023.10243347

This paper addresses the formation tracking problem for heterogeneous multi-agent systems subject to deception attacks. Due to the openness of communication networks, false data, usually generated by deception attacks, can be injected into communication channels and thereby destroy the integrity and correctness of transmitted data. To deal with such threats, this paper proposes a novel distributed time-varying formation tracking control protocol based on impulse control. By designing an impulse-based compensator, the attacked information transmitted from leader to follower can be estimated precisely. And therefore, a new resilient tracking impulse controller is constructed based on the information of state feedback, estimated leader, and formation shape. Then, explicit criteria are derived for the gains of the desired compensator and controllers, under which the mean square exponential uniformly roundness is ensured for the tracking error dynamics. Moreover, the adopted impulse-based strategy can greatly reduce the information interaction and improve the communicating reliability of the heterogeneous multi-agents. Finally, the effectiveness of the proposed formation controller is verified by a simulation example.