Secure Formation Control of Multi-Agent System under DoS Attacks
Jiayi Li, Wenmao Zhou, Zongsheng Geng, Mingming Tang, Dongdong Zhao · 2024
Multi-agent systems play a vital role in many real-world applications, but their stability and performance are vulnerable to cyber-attacks, especially Denial of Service (DoS) attacks. Conventional approaches to multi-agent formation control typically rely on absolute information, which shows significant shortcomings when reliable Global Positioning System (GPS) signals are lacking or interrupted. This paper presents an innovative control strategy that uses relative information to ensure system robustness amid GPS signal disruptions. In response to DoS attacks, a control law based on Lyapunov theory is designed, along with a theorem and algorithm that guarantees robust formation control in hostile environments. This theorem establishes stability conditions for control laws during DoS interruptions, providing a formal mathematical foundation for system resilience. The algorithm dynamically adjusts agent speeds based on relative positions and desired distances, enabling adaptation to changing network conditions and ensuring formation integrity despite DoS attacks. Simulation experiments validate the effectiveness of the proposed method.