Distributed Secure Fault-Tolerant Formation Splitting Control for Multiagent Systems Under Cooperation-Antagonism Interactions

In this paper, a formation splitting control problem for multiagent systems (MASs) under actuator failures and communication attacks is investigated. By assigning positive and negative edge weights (cooperative and antagonistic interactions) to the interaction topology among agents, formation splitting can be achieved without the need to plan multiple leaders' trajectories. In addition, considering that communication attacks will inevitably cause damage to the cooperation-antagonism network, as well as the impact of multiplicative faults on control inputs, it is crucial to design a control protocol that does not rely on global topology and contains dynamic gain. Thus, based on gauge transformation and adaptive mechanism, a fully distributed secure fault-tolerant formation splitting control protocol is designed. Considering that the energy of attackers is usually limited, based on a slowly switching mechanism, the sufficient conditions to ensure the implementation of secure fault-tolerant formation splitting under different degrees of communication attacks are provided. Finally, the correctness of the theoretical analysis is verified by simulation.