Distributed time-varying Nash equilibrium in resilient multi-objective formation control for cyber–physical systems

Abstract

This paper investigates the problem of multi-objective time-varying formation control in cyber–physical systems (CPSs) with saturated constraints and malicious agents. By incorporating the concept of multi-agent systems and employing objective weight allocation method, the problem is reformulated as the seeking for the Nash equilibrium solution in a time-varying non-cooperative game. To evaluate the trustworthiness of agent behavior, we propose an adaptive weight learning algorithm based on reinforcement learning. Furthermore, we develop a novel smooth saturation control strategy and a predefined time controller to design a distributed resilient algorithm for CPSs with both known and unknown parameters. Additionally, we apply the designed algorithm to the resilient distributed multi-objective time-varying formation control problem of unmanned aerial vehicles (UAVs) to verify its effectiveness.