Secure Dynamic Event-Triggered Formation Tracking Control for Multiagent Systems

This article studies the secure formation tracking problems for leader–follower multiagent systems (MASs) under limited resources, external disturbances, measurement noise, and random deception attacks, where a Bernoulli process is used to model random deception attacks occurring in the communication channels. A distributed sliding-mode observer (SMO) is proposed to estimate the inaccurate states of MASs, while handling the external perturbations. Then, a distributed dynamic triggering scheme is proposed based on the SMO states such that the interevent interval can be adjusted dynamically, and thus reduce the unnecessary resource consumption. By means of the SMO states and the event-triggered scheme, a distributed secure control protocol is proposed to realize the formation for MASs in the presence of one-to-all random deception attacks. Furthermore, it is extended to one-to-one random deception attack scenario. By employing the Lyapunov function and the linear matrix inequalities method, some sufficient conditions are provided to guarantee the bounded formation for MASs under a directed graph and both one-to-one and one-to-all attack scenarios. Experiments using multiple quadrotors are conducted to verify the developed formation control scheme.