Finite-Time Leader-Following Formation Control With Obstacle Avoidance for Multi-AGV Systems Under Actuator Cyber-Attacks

The finite-time leader-following formation control problem is investigated for multiple autonomous ground vehicle (AGV) systems subject to actuator cyber-attacks. The finitetime control method is introduced to improve the response speed of AGV formation construction. An attack compensation mechanism is developed to eliminate the impact of the actuator cyber-attacks on the formation control performance. To avoid AGV collisions with obstacles in the unknown environment, the artificial potential field method is integrated into the leaderfollowing formation control strategy. An event-triggered mechanism is applied to avoid continuous communications between the controller and the actuator. And Zeno phenomenon is proved to be avoided with the developed event-triggered method. Sufficient conditions are derived to guarantee the finite-time formation control and obstacle avoidance of multi-AGV systems subject to actuator cyber-attacks. Finally, the formation task of a group of vehicles is applied to demonstrate the feasibility of the proposed strategy.