Fault-tolerant flocking control against multiple malicious agents under geometric configuration containment  

作　　者：Chencheng ZHANG Hao YANG Bin JIANG 

机构地区：[1]College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China [2]Institute of Engineering and Technology ENTEG,University of Groningen,Groningen 9747 AG,the Netherlands

出　　处：《Science China(Information Sciences)》2024年第10期257-278,共22页中国科学（信息科学）（英文版）

基　　金：supported in part by National Natural Science Foundation of China (Grant Nos. 62073165, 62233009);Funding of Postgraduate Research & Practice Innovation Program of Jiangsu Province (Grant No. KYCX21-0222)。

摘　　要：Flocking control in the presence of malicious decisions is a crucial research topic since agents in swarms are likely to suffer from security issues in practice. This paper considers a swarm containing malicious agents that deliberately alter their controller parameters and disrupt the swarm by causing collisions,divisions, and escapes. Two possible malicious scenarios are considered. The first is that one malicious agent acts selectively on a subset of its neighbors and the second is that multiple malicious agents are either scattered or clustered together. To achieve the flocking control objective:(1) containment conditions based on specific geometric configurations are established;(2) hierarchical fault-tolerant flocking control methods based on those containment conditions are proposed. Compared to existing research dealing with malicious agents in swarms, our approach aims to contain rather than remove them. This guarantees the completeness of the task and takes agents' motions into consideration. Simulations show the effectiveness of the proposed methods.

关 键 词：flocking control fault-tolerant control multiple malicious agents geometric configuration 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]