Distributed Secure Tracking Control of Unknown Multi-Vehicle Systems Under Denial-of-Service Attacks

In this paper, we consider the secure formation-containment control for unknown networked multi-vehicle systems under asynchronous Denial-of-Service (DoS) attacks. We start by introducing a two-layer resilient distributed observer designed to counteract multi-channel DoS attacks. This observer incorporates channel-specific decay rates tailored for mitigating such attacks. When these decay rates adhere to certain conditions, the observer guarantees reliable state estimation and simultaneously generates output tracking references for both leaders and followers within the networked vehicle systems. Building upon this observer framework, we further devise a decentralized feedforward-feedback formation-containment control strategy to achieve the optimal formation-containment control with performance optimization. Besides, the model-based formation-containment control strategy is extended to model-free formation-containment control by using integral reinforcement learning algorithm. Finally, we present numerical simulations to demonstrate the effectiveness of our theoretical findings.