Flocking Control Against Malicious Agent

• 成果类型: Article
• 署名作者: Zhang, Chencheng; Yang, Hao; Jiang, Bin; Cao, Ming
• 署名单位: Nanjing University of Aeronautics & Astronautics; University of Groningen
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3319549
• 发表日期: 2024
• 页码: 3278-3285
• 关键词: Flocking control; geometric configuration; malicious agent; swarm

摘要

This article investigates the flocking control of a swarm with a malicious agent that falsifies its controller parameters to cause collision, division, and escape of agents in the swarm. A novel geometric flocking condition is established by designing the configuration of the malicious agent and its neighbors, under which we propose a hierarchical geometric configuration-based flocking control method. To help detect the malicious agent, a parameter estimate mechanism is also provided. The proposed method can achieve the flocking control goal and meanwhile contain the malicious agent in the swarm without removing it. Experimental result shows the effectiveness of the theoretical result.