Event-Triggered Dynamic Formation Tracking of Linear Multi-Agent System Under Denial of Service Attacks

This paper addresses the challenge of acquiring dynamic formation and trajectory tracking of linear multi-agent systems (MAS) using distributed model predictive control (DMPC) while dealing with potential Denial of Service (DoS) attacks. The tailor-made objective function proposed for fetching the optimal control law by incorporating a formation-preserving term ascertains that the MAS maintains formation, even under DoS attacks. The twin objectives of reducing the effect of DoS attacks as well as downscaling the computational burden of the model predictive controller (MPC) are achieved by the proposed optimal control law, which is powered by the Laguerre functions. An event triggering mechanism (ETM) is proposed that utilizes a trigger condition independent of the predicted state information of neighboring agents. The effectiveness of the proposed algorithm is verified through stability analysis and simulations. The proposed Laguerre-based algorithm is found to be successful in reducing the adverse effects caused by DoS attacks.