Bipartite time-varying formation tracking control for multiagent systems with multiple leaders subject to DoS attacks

This study addresses the bipartite time-varying formation tracking control problem in multi-agent systems (MASs) with multiple leaders subjected to denial-of-service (DoS) attacks. Current DoS defense methods frequently impose stringent limitations on topological alterations, rendering them unsuitable for dynamic and complex attack scenarios. To tackle this challenge, we propose a security defense strategy utilizing a switching topology. This strategy integrates a minimum cost recovery approach that facilitates the localization and dynamic repair of communication links compromised by DoS attacks. Moreover, we designed a distributed adaptive compensator to compute the convex hull of multiple leaders' outputs, thereby addressing the formation tracking problem without dependence on global information. Furthermore, we introduce an enhanced event-triggered control scheme designed to minimize the wastage of communication resources in insecure environments. Finally, the stability of the system is analyzed utilizing Lyapunov theory, and the effectiveness of the proposed strategy is demonstrated through simulations conducted under DoS attack conditions.