Resilient Time-Varying Formation Optimal Tracking for Heterogeneous Multi-Agent Systems With Coupled Constraints
Lingfei Su, Zhi Lin, Yongzhao Hua, Zhexin Shi, Xiwang Dong, Jinhu Lü, Danwei Wang · IEEE Transactions on Automation Science and Engineering · 2025
Formation constrained optimal tracking problems for heterogeneous multi-agent systems under Byzantine attacks are studied. The objective of the honest agents, unaffected by Byzantine attacks, is to find optimal trajectories that minimize the cumulative local cost functions of all honest agents, while simultaneously satisfying the cumulative local inequality constraints and maintaining the formation configuration. A distributed resilient formation tracking controller utilizing preview control and primal-dual strategy is proposed without requiring each agent to know which agents are affected by Byzantine attacks. The performance of the proposed algorithm is analyzed in terms of the upper bounds of dynamic regret and constraint violations. Numerical simulations and experiments, involving one unmanned aerial vehicle and four unmanned ground vehicles, are performed to verify the effectiveness of the obtained results.