Dynamic Event-Triggering Formation-Surrounding Control for Multiagent Pursuit-Evasion Games Under DoS Attacks

This article investigates the formation-surrounding control (FSC) problem of multiagent pursuit-evasion (MPE) games with denial-of-service (DoS) attacks and disturbance. First, a novel prescribed-time observer is developed to estimate the disturbance suffered by the multiagent, which eliminates the assumption of disturbance upper bound. Second, the resilient FSC methods are designed for the MPE games under DoS attacks via the reinforcement learning (RL) and improved dynamic event-triggering mechanism (IDETM). In the RL framework, a novel weight updating law without finite/persistent excitation conditions is proposed such that the estimation error of weight can be uniformly ultimately bounded (UUB). In the IDETM, the arc-cotangent function is introduced to improve the interevent interval into the event-triggering condition. Finally, the effectiveness and advantages of the developed policy are validated by the theoretical analysis and numerical simulations.