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

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.