Formation control for discrete-time multi-agent system with input and output delays under network attacks

This paper addresses the mean square consensus-based formation control for multiple agent system (MAS) with input and output delays under network attacks, process noise, and measurement noise in MAS. Firstly, a time delay-free transformation approach for a multi-agent system with input and output delays is presented. The MAS is transformed into a formal delay-free discrete-time system using the delay-free transformation method. Then a state observer based on Kalman filter is presented to estimate the states of agents. A distributed predictive consensus protocol based on the estimated states of each MAS is proposed for the leader-following MAS. The sufficient and necessary conditions of mean square consensus for MAS under DoS attacks are derived. Finally, a numerical example of consensus-based formation control for multi-agent systems is provided to verify the correctness and effectiveness of the proposed consensus control protocol.