Fully Distributed Event/Self-Triggered Formation Tracking for Multiagent Systems Under Denial-of-Service Attacks

Time-varying output formation tracking (TVOFT) issue for general linear multiagent systems (MASs) with a nonautonomous leader under denial-of-service (DoS) attacks is investigated. The DoS attacks refer to attacks on communication between agents launched by intelligent adversaries. Based on relative information between neighboring agents, we develop an independent asynchronous resilient fully distributed event-triggered control (ETC) strategy. With the developed ETC strategy, the MASs can achieve TVOFT in such an insecure environment, and do not exhibit the Zeno behavior. The advantages of the developed ETC strategy are mainly in the following three aspects: 1) the strategy can tolerate the continuous attacks from the adversaries; 2) the strategy is applicable to more general scenarios, such as when only relative information is available; and 3) the strategy can be implemented in a fully distributed manner. Moreover, considering that the developed ETC strategy needs to continuously monitor the estimate errors, we further formulate a novel self-triggered control (STC) strategy to overcome the shortcoming. Different from the existing works, different STC strategies are formulated for different types of followers in this article, which enlarges the interevent interval time.