Dynamic Event-Triggering Formation-Surrounding Control for Multiagent Pursuit-Evasion Games Under DoS Attacks

This paper investigates the formation-surrounding control problem of multiagent pursuit-evasion (MPE) games with denial-of-service (DoS) attacks and disturbance. First, a novel prescribed-time observer is developed to estimate the disturbance suffered by the multiagent, which eliminates the assumption of disturbance upper bound. Second, the resilient formation-surrounding control methods are designed for the MPE games under DoS attacks via the reinforcement learning (RL) and improved dynamic event-triggering mechanism (IDETM). In the RL framework, a novel weight updating law without finite/persistent excitation conditions is proposed such that the estimation error of weight can be uniformly ultimately bounded (UUB). In the IDETM, the arc-cotangent function is introduced to improve the inter-event interval into the event-triggering condition. Finally, the effectiveness and advantages of the developed policy are validated by the theoretical analysis and numerical simulations.