Search

The induced attack on the formation control of multiagent systems is investigated from the perspective of the attacker, where a new induced attack strategy is proposed to drive the whole formation of multiagent systems to the prescribed reference trajectory. Compared with denial‐of‐service attacks and deception attacks, a desired formation reference trajectory with the stable formation structure is reached by the induced attack instead of disrupting the whole formation. First, the induced attack signal is produced by designing an attack generation exosystem, whose dynamics can be described by the regulated attack matrix and can be adjusted to generate the prescribed reference trajectory. Then, based on the local state information, the formation vector, and the induced attack signal among partial agents, a new distributed induced attack formation protocol is proposed, which is composed of the nominal formation term and the induced attack term. Meanwhile, the induced attack design criterion is proposed by utilizing a robust H∞$$ {H}_{\infty } $$ scheme, where the robust H∞$$ {H}_{\infty } $$ performance bound can be configured by two performance regulating parameters and can be used to design the appropriate regulated attack matrix. Furthermore, by establishing the projection of the induced attack signal onto the formation agreement subspace, an explicit expression of the prescribed reference trajectory is determined, which depicts the movement trajectory of the entire formation of the multiagent system under the induced attack. Finally, a simulation is provided to vindicate the effectiveness of theoretical results. [ABSTRACT FROM AUTHOR]

Summary: How a network of multiple vehicles gets to a goal formation from an initial formation is as important as reaching the goal formation. Despite that stress matrix has been well applied to construct distributed affine formation control, most works have focused on the stabilization or stability issues and paid little attention to the performance regulation or the control parameterization issues. In this paper, we aim to design an error‐model based distributed control for the affine formation maneuver of second‐order multi‐agent systems (MASs), and to demonstrate the advantages of the control approach in performance tuning. The basic idea behind the control design is to force the actual error‐trajectory dynamics of each controlled follower to approximate that of an ideal second‐order error model. The designed controller possesses a notable feature that the historical acceleration command (HAC) is used to enhance system performance during the formation maneuvers. By a theory tool of neutral functional differential equations, we develop a delay‐independent condition on the design parameters, under which the system stability is robust to the actively introduced HAC. Furthermore, we derive an inequality describe the relationship between the ultimate bounds of tracking errors and the delay parameter. This paper presents a clear mechanism to tune the comprehensive performance of affine formation control. Simulation results show the effectiveness of the stability condition and the performance‐tuning mechanism, as well as the possible fragility of the system stability to the delay when the condition is not satisfied. [ABSTRACT FROM AUTHOR]

This article investigates the distributed prescribed‐time formation control problem for the second‐order multi‐agent systems (MASs) subject to matched and mismatched disturbances in time‐varying formation case. As a stepping stone, novel distributed estimators are first proposed to accurately estimate the position and velocity information of the leader within prescribed time. Subsequently, the nominal control protocol is presented for the MAS in the absence of the disturbances to deal with the time‐varying formation control problem, and the prescribed‐time stability of the system is guaranteed. For system subject to matched and mismatched disturbances, the observer‐based integral sliding mode formation control protocol is then presented such that the desired trajectories can be tracked and the desired patterns can be achieved within the prescribed settling time. By adopting the sinusoidal function to the control scheme, the singularity‐like problem is solved if there exist measurement errors in the agents. Finally, a numerical simulation example utilizing unmanned aerial vehicles modeled by Simscape and Solidworks is presented to show the efficiency of the proposed scheme. [ABSTRACT FROM AUTHOR]

This article investigates the distributed event‐triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter‐event times (MIET). Unlike common formation control methods that only ensure the formation system to keep a fixed geometric shape, the proposed scheme enables multiple USVs maneuver as a group in translation, shearing, rotation, or combinations of them. The proposed control strategy is composed of two parts. First, a distributed event‐triggered observer (DETO) is proposed to observe the time‐varying target formation under the lack of global leaders' information and govern the inter‐vessel communications among the formation group. Besides, the MIET of the designed communication strategy is proved to be strictly positive and computable from formation configurations and control parameters. With these guarantees, the maximum communication frequency can be known in advance. Then, upon the DETO signals, the adaptive local tracking controller is subsequently synthesized for each vessel to realize the target formation track. Rigorous theoretical analysis and simulation results are finally conducted to verify the validness and effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]