Leader-follower time-varying output formation control of heterogeneous systems under cyber attack with active leader

Abstract

This study investigates the leader-follower time-varying output formation problem in heterogeneous multi-agent systems with an active leader subject to cyber-attacks. The leader is active, implying that it has a bounded but unknown control input to modify the behavior of followers in response to changes or threats and consequently avoid unexpected circumstances. A resilient observer with a cyber-attack compensation signal is first performed to estimate the leader’s state and output for the followers, while ensuring that the impact of cyber-attacks in the communication network is compensated. A compensation signal, along with a feasibility condition, then acts on the followers to complete the specified time-varying formation offset. The transformation of the output leader-follower formation problem to the conventional tracking problem is then further realized by a state-space transformation method. Next, inhomogeneous algebraic Riccati equations are derived by learning the solution to the conventional tracking problem for which its optimization is guaranteed. Finally, the effectiveness and availability of the proposed method are demonstrated through a simulation example.