Collision-Free Formation Control for Heterogeneous Multiagent Systems Under DoS Attacks
针对异构多智能体系统在拒绝服务攻击、非合作动态障碍和输入饱和约束下的安全时变编队控制问题，提出了集成网络层和物理层的框架，通过分布式弹性观测器和无碰撞控制器保证系统安全。
A safe time-varying formation (TVF) control framework is proposed in this article for heterogeneous multiagent systems under the constraints of denial of service (DoS) attacks, noncooperative dynamic obstacles, and input saturation. The framework integrates both the cyber-layer and physical-layer components to address the challenges posed by these adverse conditions. In the cyber-layer, a distributed resilient observer is provided based on a control Lyapunov function (CLF)-quadratic program (QP). This observer estimates a reference exosystem, effectively decoupling heterogeneous dynamics from unsafe networks and optimizing the system resilience against DoS attacks. At the physical-layer, for the first time, a collision-free TVF controller is presented based on the CLF-exponential control barrier function-QP. The controller guarantees high-order heterogeneous agents' operation safety under noncooperative obstacles and input saturation. The effectiveness and advantages of the proposed algorithms are verified through the comparative simulations and experiments conducted on a physical system comprising unmanned aerial vehicles and unmanned ground vehicles.