Distributed Secure Formation

In this chapter, the formation problem of multiagent systems is investigated for discrete-time multiagent systems under denial-of-service (DoS) attacks. Different from the existing works on secure consensus where multiple attacks can be seen as one channel attack, in this chapter, the adversaries could attack multiple agents independently/distributively. The considered attack scenario compromises agents rather than edges of the communication topology. This leads to a severe behavior of the multiagent systems and most of the existing techniques studying arbitrary switching dynamics fail to investigate this situation. The communication topology becomes disconnected whenever an agent is attacked because the agent becomes isolated. A novel distributed consensus protocol is addressed to reduce the effects of such a DoS attack. The proposed protocol uses static output feedback. By applying appropriate transformation, the consensus/formation problem is transformed into a stability problem and necessary and sufficient conditions are given in terms of bilinear matrix inequalities. Then, a sufficient condition is derived to design the formation gain based on linear matrix inequity (LMI). Finally, a simulation example is presented to demonstrate the effectiveness of the proposed theoretical results.