Event-Triggered Formation Control of Heterogeneous Multiagent Systems Under FDI Attacks and External Disturbances

In this article, the leader-follower time-varying output formation control problem of heterogeneous multiagent systems(MASs) in the presence of continuous false data injection (FDI) attacks and unknown external disturbances is investigated. A hierarchical event-triggered control frame, including communication layer and controller layer, is constructed. In the communication layer, a distributed event-triggered estimator is proposed to estimate the leader's state and release the communication burden. In the controller layer, a robust adaptive state observer is firstly designed to estimate the follower's state with eliminating the influence of continuous FDI attacks and unknown external disturbances, then an output feedback event-triggered controller is developed to track the estimated leader's state. The proposed framework not only reduces the transmission burden but also eliminates the impact of attacks and disturbances. Finally, an illustrative simulation is provided to demonstrate the effectiveness of the proposed approach.