Adaptive Fuzzy Secure Collision-Free Formation Control for Nonlinear MASs With DoS Attacks

In this article, the collision-free adaptive fuzzy secure formation control problem is investigated for uncertain nonlinear multiagent systems (MASs) under denial-of-service (DoS) attacks. Since the DoS attacks block the signal transmission between agents, the leader’s states and output are inaccessible to the followers, a distributed command governor is designed to estimate them. To avoid the collisions among the agents or between the agents and the dynamics obstacles, the integral-type barrier Lyapunov function (BLF) is employed to develop a secure collision-free adaptive fuzzy formation controller based on the designed governor. It is shown that the developed secure collision-free formation control approach can not only achieve the formation objective, but also avoid the collisions under DoS attacks. Finally, we apply the developed secure collision free formation control method to multiple Euler–Lagrangian (EL) systems, the simulation and comparison results verify its effectiveness.