A safe time-varying formation (TVF) control framework is proposed in this article for heterogeneous multiagent systems under the constraints of denial of service (DoS) attacks, noncooperative dynamic obstacles, and input saturation. The framework integrates both the cyber-layer and physical-layer components to address the challenges posed by these adverse conditions. In the cyber-layer, a distributed resilient observer is provided based on a control Lyapunov function (CLF)-quadratic program (QP). This observer estimates a reference exosystem, effectively decoupling heterogeneous dynamics from unsafe networks and optimizing the system resilience against DoS attacks. At the physical-layer, for the first time, a collision-free TVF controller is presented based on the CLF-exponential control barrier function-QP. The controller guarantees high-order heterogeneous agents’ operation safety under noncooperative obstacles and input saturation. The effectiveness and advantages of the proposed algorithms are verified through the comparative simulations and experiments conducted on a physical system comprising unmanned aerial vehicles and unmanned ground vehicles.

中文翻译：

---

DoS 攻击下异构多智能体系统的无碰撞编队控制


本文针对拒绝服务 （DoS） 攻击、非合作动态障碍和输入饱和约束下的异构多智能体系统提出了一种安全的时变编队 （TVF） 控制框架。该框架集成了网络层和物理层组件，以应对这些不利条件带来的挑战。在网络层，提供了一种基于控制 Lyapunov 函数 （CLF） -二次规划 （QP） 的分布式弹性观测器。该观察者估计一个参考外系统，有效地将异构动力学与不安全网络解耦，并优化系统对 DoS 攻击的弹性。在物理层，首次提出了基于 CLF 指数控制屏障函数 QP 的无碰撞 TVF 控制器。控制器保证了高阶异构智能体在非合作障碍物和输入饱和下的运行安全。通过在由无人机和无人地面车辆组成的物理系统上进行的比较仿真和实验，验证了所提算法的有效性和优势。