Dynamic‐Event‐Based Predefined‐Time Secure Formation Control for Nonlinear Multiagent Systems Against FDI Attacks

ABSTRACT This article studies the problem of dynamic event‐triggered (DET) predefined‐time secure formation tracking control (FTC) for nonlinear multiagent systems (NMASs) against actuator nonaffine false data injection (FDI) attacks. In contrast to finite/fixed‐time control results, this article provides the sufficient conditions for the practically predefined‐time stability (PPTS) of the system based on a new differential function, and the convergence time is decoupled to a user‐defined parameter independent of the initial values and complex parameter expressions. Applying the differential mean value theorem, the nonaffine FDI attack signal is transformed, and an anti‐attack resilient control method is proposed by combining Nussbaum gain technology with intelligent adaptive technology. Moreover, a Zeno free predefined‐time dynamic event‐triggered mechanism (PTDETM) is proposed, which dynamically adjusts event trigger threshold to ensure the control performance and greatly reduce the communication resource consumption. The predefined‐time stability of closed‐loop system is demonstrated by combining Lyapunov function (LF) method and the PPTS theory. Finally, the proposed control method is successfully applied to solve the predefined‐time secure formation tracking problem of multirobot systems, which verifies the effectiveness and superiority of the proposed control method.