Asynchronous resilient collision-free formation control for nonlinear MASs under DoS attacks

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-09-22 DOI:10.1016/j.automatica.2025.112619

Jun Zhang , Jun Ning , Shaocheng Tong

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引用次数: 0

Abstract

The multi-agent systems (MASs) exchange the communication information by the communication network, which is vulnerable to denial-of-service (DoS) attacks. DoS attacks can disrupt the communication channels and result in the collisions between agents, thus it is an important and challenging topic to study the collision avoidance formation control issue under DoS attacks. This paper investigates the asynchronous resilient collision-free formation control issue for nonlinear MASs with DoS attacks. An asynchronous resilient distributed observer is proposed to estimate the output information of leader under DoS attacks. Based on the designed distributed observer and by constructing two high-order filters, an asynchronous resilient collision-free formation control method is presented by backstepping control design theory. The presented formation control method can ensure that the formation tracking errors asymptotically converge to zero, and the collision avoidance objective is realized. Moreover, the non-differentiable problem of virtual controllers is solved. Finally, we apply the developed formation control method to multiple Euler-Lagrangian (EL) systems, the simulation and comparison results verify its effectiveness.

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DoS攻击下非线性质量的异步弹性无碰撞编队控制

多智能体系统通过通信网络交换通信信息，容易受到拒绝服务攻击。DoS攻击会破坏agent之间的通信通道，造成agent之间的碰撞，因此研究DoS攻击下的避碰编队控制问题是一个重要而具有挑战性的课题。研究了具有DoS攻击的非线性质量的异步弹性无碰撞编队控制问题。提出了一种异步弹性分布式观测器来估计DoS攻击下leader的输出信息。基于所设计的分布式观测器，通过构造两个高阶滤波器，利用后退控制设计理论，提出了一种异步弹性无碰撞编队控制方法。所提出的编队控制方法能保证编队跟踪误差渐近收敛于零，实现了避碰目标。此外，还解决了虚拟控制器的不可微问题。最后，将该方法应用于多个欧拉-拉格朗日（EL）系统，仿真和对比结果验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.