Fully distributed dynamic event-triggering formation control for multi-agent systems under DoS attacks: Theory and experiment

The fully distributed time-varying formation (TVF) control problem is investigated for multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks. An asynchronous dynamic event-triggering (DET) mechanism is introduced to alleviate agents' communication burden suitably, and a fully distributed DET-TVF control protocol is designed. Sufficient conditions and theoretical analysis prove that this protocol can achieve the desired TVF configuration under DoS attacks, and Zeno behavior is excluded. Finally, experimental examples using six quadrotors demonstrate and fully showcase the efficacy of the proposed methods.