Research on fixed-time time-varying formation of heterogeneous multi-agent systems based on tracking error observer under DoS attacks

In this paper, the fixed-time time-varying formation of heterogeneous multi-agent systems (MASs) based on tracking error observer under denial-of-service (DoS) attacks is investigated. Firstly, the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation. Then, considering that the leader state is not available to each follower under DoS attacks, a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader. Finally, adaptive radial basis function neural network (RBFNN) is used to approximate the unknown ensemble disturbances in the system, and the fixed-time time-varying formation scheme is designed with the constructed observer. The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.