Dynamic Event-Triggered Secure Formation Tracking for Multi-Agent Systems with Application to Spacecraft Formation

The paper addresses the issue of time-varying formation tracking for multi-agent systems subject to matched uncertainties, particularly in the context of denial-of-service attacks. An event-triggered secure control strategy is proposed to achieve time-varying formation tracking, which entails following a trajectory while maintaining the time-varying geometric shape of the formation. The proposed framework incorporates an event-triggered controller, along with sufficient conditions related to matrix inequalities and attack parameters, which are critical for ensuring the achievement of the control objectives. Additionally, the dynamic event-triggering mechanism is described as enabling systems to avoid Zeno behavior, thereby reducing the number of communications compared to the corresponding static mechanism. The proposed strategy is implemented in the spacecraft formation system through simulation results to demonstrate its effectiveness.