Abstract
This paper studies the multi-task problem of connectivity preservation and flocking control for multi-agent systems with double-integrator dynamics under deception attacks on velocity. All agents are assumed to be able to measure the relative position of their neighbors and communicate their own velocity with the neighbors. First, a connectivity controller is designed to preserve the local connectivity of the communication graph under deception attacks. Then, a sufficient condition is proposed such that we can design an asymptotically flocking controller for the multi-agent system. Finally, several discussions on the combination of connectivity and flocking tasks to a connectivity-preserving flocking multi-task problem are proposed. Simulation results are provided to support the theoretical analysis.
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