Adaptive bipartite time-varying formation tracking control for heterogeneous multi-agent systems with DoS attacks

Chengmei Tang; Lianghao Ji; Shasha Yang; Xing Guo

doi:10.1016/j.isatra.2024.12.028

Adaptive bipartite time-varying formation tracking control for heterogeneous multi-agent systems with DoS attacks

ISA Trans. 2024 Dec 26:S0019-0578(24)00614-1. doi: 10.1016/j.isatra.2024.12.028. Online ahead of print.

Authors

Chengmei Tang¹, Lianghao Ji², Shasha Yang³, Xing Guo⁴

Affiliations

¹ Chongqing Key Laboratory of Image Cognition, Chongqing University of Posts andTelecommunications, Chongqing 400065, China; School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China. Electronic address: d210201023@stu.cqupt.edu.cn.
² Chongqing Key Laboratory of Image Cognition, Chongqing University of Posts andTelecommunications, Chongqing 400065, China; School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China. Electronic address: jilh@cqupt.edu.cn.
³ Chongqing Key Laboratory of Image Cognition, Chongqing University of Posts andTelecommunications, Chongqing 400065, China; School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China. Electronic address: yangss@cqupt.edu.cn.
⁴ School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China. Electronic address: guoxing@cqupt.edu.cn.

PMID: 39734144
DOI: 10.1016/j.isatra.2024.12.028

Abstract

Denial-of-service (DoS) attacks and antagonistic interactions may exist in complex networks, which will destroy cooperative communication between agents and thus cannot realize collaborative tasks. Therefore, this paper studies time-varying formation tracking (TVFT) of heterogeneous multi-agent systems (HMASs) with DoS attacks and cooperative-antagonistic interactions. It aims to ensure system communication connectivity and allow followers to achieve distributed secure bipartite TVFT. To enable followers to successfully obtain unknown state of the leader, this paper designs a composite adaptive dynamic event-triggered (DET) bipartite compensator. Compared with existing compensators, it can resist DoS attacks; obtain information of a non-autonomous leader; increase the event triggering interval; and be independent of global information of signed digraph. Based on proposed compensator, a new distributed formation controller is designed for achieving TVFT. The results show that sufficient conditions for realizing secure bipartite TVFT of HMASs under DoS attacks and feasibility conditions for realizing time-varying formations are obtained. Meanwhile, simulations are performed to test validity of the compensator and controller.

Keywords: Adaptive control; Bipartite time-varying formation tracking; Denial-of-service attacks; Heterogeneous multi-agent systems.