Adaptive Event-Triggered Resilient Formation Collision Avoidance Control for High-Order Nonlinear Multiagent Systems Under DoS Attacks

Abstract

This article investigates the problem of adaptive event-triggered (ET) formation collision avoidance control for high-order nonlinear multiagent systems under denial-of-service (DoS) attacks. First, a distributed resilient observer is designed to estimate the information of the leader when the communication is interrupted by DoS attacks. Subsequently, a distributed command governor is proposed to dynamically generate safe reference commands in real time. Moreover, an ET command regulation scheme is designed to ensure system safety performance while effectively saving communication resources from the controller to the actuator. Consequently, the adaptive ET resilient formation collision avoidance control scheme is formulated. Theoretical analysis demonstrates that the designed control scheme enables agents to accomplish formation collision avoidance even under DoS attacks. Finally, the effectiveness of the designed control scheme is verified by simulation results.