Finite-Time Resilient Formation Tracking Control of Multiple Nonholonomic Mobile Robots with Communication Link Attacks

In this paper, we address the issue of distributed finite-time resilient formation control for multiple nonholonomic mobile robots with unknown communication link attacks. First, we design a distributed finite-time resilient state observer to estimate the leader's information. Second, we propose a finite-time resilient formation control law by use of the observers and the input-output feedback linearization technique. Theoretical analysis is presented to show that all follower robots can track a leader robot and maintain a desired geometric formation simultaneously in finite time. Finally, the performance of the derived resilient formation control protocol is illustrated by numerical simulation.