Dynamic Event-Triggered Formation-Containment Control for Multi-Agent Systems under FDI Attacks

This paper investigates the formation-containment control problem for multi-agent systems (MASs) under false data injection (FDI) attacks. To address this challenge, a dynamic event-triggered (DET) mechanism is proposed, which adaptively adjusts triggering thresholds based on system states and potential attack signals, effectively reducing communication load and limiting attacker interference opportunities. Based on this mechanism, distributed control protocols are developed for both leaders and followers, ensuring that leaders achieve the desired formation while followers are contained within the convex hull formed by the leaders. Stability analysis is conducted using Lyapunov-Krasovskii functionals, providing sufficient conditions for closed-loop stability under network delays and stochastic FDI attacks. Simulation results validate the effectiveness of the proposed approach, demonstrating the MASs' resilience in achieving formation-containment objectives despite the presence of FDI attacks.