Fuzzy Adaptive Event-Triggered Resilient Formation Control for Nonlinear Multiagent Systems Under DoS Attacks and Input Saturation
针对遭受拒绝服务攻击和输入饱和的非线性多智能体系统，提出了一种模糊自适应事件触发弹性编队控制算法，通过模糊状态估计器和切换事件触发机制节省通信资源，并验证了在无人水面艇上的有效性。
This article studies the fuzzy adaptive event-triggered resilient formation (RF) control problem for nonlinear multiagent systems (MASs) subject to denial-of-service (DoS) attacks and input saturation. Fuzzy logic systems (FLSs) are adopted to identify unknown subsystems, and a fuzzy state estimator is established to address the issue resulted from unmeasurable states. A distributed RF filter is proposed to estimate the unknown leader and obtain the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$n$</tex-math> </inline-formula> -order derivative of the estimated leader under DoS attacks. To save limited communication resource and reduce the number of controller updates, a switching event-triggered mechanism (SETM) is introduced. Then, a fuzzy event-triggered RF control algorithm is designed via backstepping control method. It is demonstrated that the controlled MASs are stable and formation errors converge even subject to DoS attacks and input saturation. Finally, we apply the event-triggered RF control algorithm to unmanned surface vehicles (USVs), the simulation results verify the effectiveness of the proposed event-triggered RF control algorithm.