Event-Triggered Multiple Leaders Formation Tracking for Networked Swarm System With Resilience to Noncooperative Nodes

In practical applications, not all nodes in networked swarm systems are cooperative. The noncooperative nodes are transformed from healthy ones because of cyber-attacks launched by malicious adversaries, hardware faults caused by low reliability individuals, or communication delay. In this article, an approximate fault detection method using residual threshold is shown to judge which agent is cooperative or not, and to reconstruct the communication topology. Then, the event-triggered technique is utilized to design the multileaders formation tracking protocol with resilience to noncooperative nodes. The Zeno behavior is considered to constrain the trigger condition. Finally, the comparison simulation results show the effectiveness and advantage for the proposed secure control method.