Resilient Collision-Avoidance Distributed Optimal Coordination Strategy for Euler–Lagrangian Systems Subjected to Asynchronous DoS Attacks

This article is concerned with the resilient collision-avoidance distributed optimal coordination (DOC) problem for Euler–Lagrangian systems under asynchronous denial-of-service (DoS) attacks. In an adversarial network environment, it is assumed that attackers can asynchronously launch DoS attacks on any communication channel between agents. To address this issue, a novel resilient collision-avoidance DOC strategy based on barrier functions is proposed, consisting of a decision-layer coordinator and a physical-layer tracking controller. The coordinator generates collision-avoidance optimal consensus commands based on the real-time states of the agents, while the tracking controller achieves collision-avoidance DOC by tracking these command signals, even under asynchronous DoS attacks. Furthermore, the gain parameter of the coordinator is determined through a fully distributed estimation algorithm. Unlike existing methods, the analytical form of the global objective function is no longer required. Finally, the effectiveness of the proposed strategy is demonstrated through a simulation example.