Resilient Formation Tracking for Networked Swarm Systems Under Malicious Data Deception Attacks

A distributed time-varying formation tracking method for a leader-following networked swarm system in the presence of malicious deception attacks is proposed in this paper. Both state and output equations are injected with false data by adversaries to prevent formation tracking information transmission. The real-time attack estimations are provided by an anomaly estimator. To design an event-triggered secure formation tracking protocol, a state predictor is utilized to provide neighboring states. The attack estimations and neighboring error are considered in the secure control protocol, which is adjusted using the Lyapunov stability theorem. A simulation result is shown to validate that the proposed method can accomplish the desired formation tracking under deception attacks.