Input-to-state hybrid impulsive formation stabilization for multi-agent systems with impulse delays

This paper addresses the input-to-state formation stabilization problem of nonlinear multi-agent systems within a hybrid impulsive framework, considering delay-dependent impulses, strong nonlinearity, and deception attack signals. By leveraging Lyapunov functionals, impulsive comparison theory, average impulsive interval methods, and graph theory, we develop novel criteria for possessing locally input-to-state and integral input-to-state formation stabilization across different impulse sequence classes. These criteria are expressed in terms of continuous/impulsive feedback gains, time delay size, nonlinearity strength, uniform upper bound of impulsive interval, and length of average impulsive interval. Notably, the design of control impulses benefit the destabilizing continuous dynamics in the formation stabilization process. To demonstrate the effectiveness and validity of the analytical results, we provide numerical simulation examples involving various types of external attack signals.