Formation Control Based on Active Compensation for Multi-Agent System under Communication Attack

In this paper, the formation control of multi-agent systems under communication attacks is studied. Consider that communication attacks will cause the unknown and time-varying changes in the topology of multi-agent systems, a formation control method of the multi-agent systems based on active compensation is proposed. Firstly, the communication attack is modeled as the time-varying part of the communication weight of the multi-agent system, and then the impact of the communication attack on the closed-loop system is regarded as the disturbance. Then an extended state observer is designed to estimate the state of each agent and the disturbance caused by the communication attack. According to the estimation of the observer, a formation controller based on active compensation is designed to realize the cooperative control of the the multi-agent systems. Finally, simulations are provided to illustrate the effectiveness of the proposed method.