Resilient practical time-varying formation tracking for multiagent systems with a leader of unknown input

This paper investigates practical time-varying formation tracking problems for high-order multiagent systems in an adversarial environment, where the leader's control input is unknown and the followers are prone to agent-attacks. To guarantee the remaining benign followers not suffering attacks still can track the leader's trajectory with an expected formation configuration, the resilient practical time-varying formation (RPTVF) tracking is examined in this work. Firstly, to avoid the influence of attacked follower agents, a security strategy is proposed, which is an enhanced version of the weighted mean-subsequence-reduced algorithm. Secondly, using relative information of neighbors, a resilient tracking protocol is designed for each benign follower to track the leader. Then, it is proved that according to the above strategy and protocol, the multiagent systems with a leader of unknown input can reach convergence in a finite time. Finally, simulation examples are given to verify the theoretical results.