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

Area of Science:

• Control Theory
• Network Security
• Robotics

Background:

• Complex networks face challenges from denial-of-service (DoS) attacks and cooperative-antagonistic interactions, hindering collaborative tasks.
• Heterogeneous multi-agent systems (HMASs) require robust communication for cooperative behaviors and formation control.
• Ensuring communication connectivity and secure formation tracking is crucial for HMASs in dynamic environments.

Purpose of the Study:

• To develop a secure distributed time-varying formation tracking (TVFT) strategy for HMASs under DoS attacks and antagonistic interactions.
• To design a composite adaptive dynamic event-triggered (DET) bipartite compensator capable of resisting DoS attacks and acquiring leader information.
• To enable followers to achieve secure bipartite TVFT while maintaining communication connectivity.

Main Methods:

• Design of a composite adaptive dynamic event-triggered (DET) bipartite compensator resistant to DoS attacks.
• Development of a new distributed formation controller based on the proposed compensator for TVFT.
• Analysis of system communication connectivity and leader state acquisition under adversarial conditions.
• Validation through simulations to demonstrate the effectiveness of the compensator and controller.

Main Results:

• Sufficient conditions for secure bipartite TVFT in HMASs under DoS attacks were established.
• Feasibility conditions for achieving time-varying formations were determined.
• The proposed compensator demonstrated resilience to DoS attacks and ability to acquire unknown leader states.
• The event-triggering interval was increased, and independence from global signed digraph information was achieved.

Conclusions:

• The developed composite adaptive DET bipartite compensator and distributed formation controller effectively enable secure bipartite TVFT in HMASs facing DoS attacks and cooperative-antagonistic interactions.
• The proposed methods ensure system communication connectivity and allow followers to achieve distributed secure bipartite TVFT.
• Simulations confirm the validity and robustness of the designed compensator and controller in complex network environments.