Distributed adaptive resilient formation control of uncertain nonholonomic mobile robots under deception attacks

This paper investigates the formation control problem for a group of nonholonomic mobile robots (NMRs) with unknown parameters and deception attacks. The information transmitted among different robots is represented by a directed graph and only a subset of the robots can obtain the full information of the desired trajectory directly. For those robots which cannot access to the reference trajectory directly, distributed estimators are designed to estimate the unknown trajectory information by using only locally available information. Besides, the sensor-to-controller transmitting channels and the communication among connected robots are suffering from deception attacks. Adaptive laws and compensation terms are designed to handle the issue of attack-induced uncertainties. Then, a novel distributed resilient formation control scheme is designed, based on which a sufficient condition is developed to guarantee that the formation errors converge to a compact set and all the closed-loop signals are bounded. Experimental results are given to validate the theoretical studies.