Abstract:Summary
This paper focuses on the problem of adaptive containment control about privacy preservation in nonlinear multi‐agent systems, where followers suffer from multiple cyber‐attacks and leaders have non‐zero control inputs. A multiple attacks mold consisting of denial‐of‐service (DoS) attacks and false data‐injection attacks is constructed for nonlinear systems. The containment control protocol is updated by applying an event‐triggered scheme. This scheme is proposed to dispatch the updating information in… Show more
“…Theorem 1. For UAV formation (2), the prescribed performance function is chosen as (10) and (11), the error transformation function is presented in (13), and the distributed finite-time containment tracking control inputs u f i and u f j are designed in (26) and (28). Given a positive constant 𝛾, if there exist matrices K L , K F and positive definite matrices P, Q, which satisfies…”
Section: Resultsmentioning
confidence: 99%
“…Lemma 1 (28). From Assumption 1, all eigenvalues of L 11 and L 22 have positive real parts, and each entry of −L −1 22 L 21 is nonnegative.…”
Section: The Establishment Of the Uav Formation Modelmentioning
SummaryIn this paper, the issue of finite‐time containment tracking control under collision avoidance constraints for unmanned aerial vehicle (UAV) formation is investigated. To tackle the challenge of collision avoidance in the context of formation containment tracking, combined with a prescribed performance function, a distributed containment tracking control scheme is proposed. Firstly, a UAV formation containment control model from a top view perspective is established. Next, to solve the internal collision avoidance within the formation, a restricted movement region is constructed for each UAV using a distributed prescribed performance function, which guarantees that each UAV's trajectory is maintained within a predefined area. Furthermore, invoking with the finite‐time control theory for the formation, a distributed containment tracking control scheme is developed to complete finite‐time tracking of the formation. Finally, simulation results are carried out to demonstrate the efficacy of the proposed approach.
“…Theorem 1. For UAV formation (2), the prescribed performance function is chosen as (10) and (11), the error transformation function is presented in (13), and the distributed finite-time containment tracking control inputs u f i and u f j are designed in (26) and (28). Given a positive constant 𝛾, if there exist matrices K L , K F and positive definite matrices P, Q, which satisfies…”
Section: Resultsmentioning
confidence: 99%
“…Lemma 1 (28). From Assumption 1, all eigenvalues of L 11 and L 22 have positive real parts, and each entry of −L −1 22 L 21 is nonnegative.…”
Section: The Establishment Of the Uav Formation Modelmentioning
SummaryIn this paper, the issue of finite‐time containment tracking control under collision avoidance constraints for unmanned aerial vehicle (UAV) formation is investigated. To tackle the challenge of collision avoidance in the context of formation containment tracking, combined with a prescribed performance function, a distributed containment tracking control scheme is proposed. Firstly, a UAV formation containment control model from a top view perspective is established. Next, to solve the internal collision avoidance within the formation, a restricted movement region is constructed for each UAV using a distributed prescribed performance function, which guarantees that each UAV's trajectory is maintained within a predefined area. Furthermore, invoking with the finite‐time control theory for the formation, a distributed containment tracking control scheme is developed to complete finite‐time tracking of the formation. Finally, simulation results are carried out to demonstrate the efficacy of the proposed approach.
“…To be specific, the proposed controller (9) is updated at a lower frequency than those in References 16–18. On the other hand, mechanism (10) allows the triggering instant to occur at the sampling instant, which overcomes the uninterrupted judgment of triggering conditions in References 26,27 and avoids the Zeno behavior naturally.…”
Section: Secure Group Consensus With Replay Attacksmentioning
confidence: 99%
“…Fortunately, the development of event‐triggered control (ETC) provides a direction to solve the problem, 24,25 that is, sampling actions are taken when the triggering function exceeds a certain threshold. Under the appropriate ETC strategies, the single and multiple attacks were handled respectively in References 26 and 27,28 for nonlinear MASs, however, the above work needs to monitor the triggering function in real time and proves that no Zeno behavior occurs. Notably, the periodic event‐triggered (PET) control combines the advantages of sampled‐data control and ETC, which periodically detects the triggering function at sampling instants, thereby avoiding Zeno behavior in nature 29 .…”
Section: Introductionmentioning
confidence: 99%
“…In particular, the designed compensator successfully realizes intermittent communication, which is superior to the continuous compensator in References 6,7,17 in terms of saving communication bandwidth resources. A PET output feedback control protocol is designed by compensator states, which is more suitable for practical applications than the state feedback control protocol in Reference 36 that requires all states to be measurable. Notably, distinct from the control protocol in References 26,27, the proposed PET control protocol contributes to intermittent monitoring of triggering function and natural avoidance of Zeno behavior.Using the GC technique, the secure group consensus is investigated for nonlinear MASs with multiple attacks, which is more challenging in control design and stability analysis compared with the work in References 30–32. Particularly, the GC technique simplifies the design process greatly by eliminating the stepwise iteration in References 12,13 and avoiding the solution of linear matrix inequalities in Reference 36.…”
SummaryIn this paper, the secure group consensus is investigated via periodic event‐triggered output feedback control for nonlinear multi‐agent systems subject to multiple attacks, where replay attacks and denial‐of‐service attacks are considered simultaneously. To avoid uninterrupted communication between agents, a novel fixed/switching continuous‐discrete compensator is first put forward by introducing a discrete‐time triggering mechanism in relative output signals. Then, with the help of the gain control technique, a compensator‐based periodic event‐triggered secure control protocol is established, which includes a triggering mechanism and an output feedback controller that both are discrete‐time. Particularly, Zeno behavior and continuous monitoring of the triggering function are naturally avoided compared with existing event‐triggered control protocols. Further, by combining the Lyapunov‐Krasovskii functional approach with switching topology theory, the secure group consensus is successfully achieved under the designed secure control protocol, meanwhile, the negative effect of multiple attacks on the system is compensated. Finally, two simulation examples are applied to verify the effectiveness of proposed control protocols.
A distributed control scheme based on historical information is designed to solve the problem of stable control of multi‐agent systems under denial of service (DoS) attacks in this article. It achieves the control objective of bipartite output containment control, that is, the output states of the followers smoothly enter the target area. The control scheme updates the states of followers through historical information in the control protocol when agents are subjected to DoS attacks. A distributed state observer with a storage module is designed to efficiently estimate the state of followers and store the observed information as history information. The historical information of control protocol calls is not necessarily the real state information in the existence of DoS attacks. Consequently, a closed‐loop feedback state compensator is designed. Then, the state compensator is converted from the time domain to the frequency domain for stability analysis using the Nyquist criterion. It is obtained that an upper bound on the amount of historical information can achieve the bipartite output trajectories containment of the controlled system. The output trajectories of the followers converge into two dynamic convex hulls, one of which is surrounded by multiple leaders, and the other is a convex hull with opposite signs of the leaders. Finally, a numerical simulation is used to verify the proposed control scheme, and the operability of the scheme is further demonstrated in a physical experiment.
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