Finite-Time Resilient Formation Control with Bounded Inputs.

Abstract

In this paper we consider the problem of a multiagent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents can converge to a formation with respect to a set of leaders. The controller employs a norm-based filtering mechanism, and unlike most prior algorithms, also incorporates input bounds. In addition, the controller is shown to guarantee convergence in finite time. A sufficient condition for the controller to guarantee convergence is shown to be a graph theoretical structure which we denote as Resilient Directed Acyclic Graph (RDAG). Further, we employ our filtering mechanism on a discrete time system which is shown to have exponential convergence. Our results are demonstrated through simulations.

Bib

@inproceedings{DBLP:conf/cdc/UsevitchGP18,
  author       = {James Usevitch and
                  Kunal Garg and
                  Dimitra Panagou},
  title        = {Finite-Time Resilient Formation Control with Bounded Inputs},
  booktitle    = {57th {IEEE} Conference on Decision and Control, {CDC} 2018, Miami,
                  FL, USA, December 17-19, 2018},
  pages        = {2567--2574},
  publisher    = {{IEEE}},
  year         = {2018},
  url          = {https://doi.org/10.1109/CDC.2018.8619697},
  doi          = {10.1109/CDC.2018.8619697},
  timestamp    = {Fri, 04 Mar 2022 13:30:11 +0100},
  biburl       = {https://dblp.org/rec/conf/cdc/UsevitchGP18.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}