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Predefined-Time Sliding-Mode Formation Control for Second-Order Nonlinear Multi-Agent Systems under Deception Attacks
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DOI：10.1016/j.ejcon.2026.101534.png)
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Abstract
En 中文
In this paper, the formation control problem of second‑order nonlinear multi‑agent systems (MASs) subject to deception attacks in harsh environments is investigated. To counteract deception attacks and system uncertainties, a piecewise continuous sliding mode surface is constructed, and an adaptive sliding mode control (SMC) framework is proposed to achieve leader–follower formation. By integrating predefined‑time control with SMC, faster convergence is achieved. Fuzzy logic systems (FLSs) are employed to approximate unknown nonlinear dynamics. The hyperbolic tangent function is embedded in the controller to avoid singularity, and the projection operator is used to ensure boundedness of the adaptive estimates. A rigorous Lyapunov‑based stability analysis shows that all formation tracking errors converge to a small neighborhood of the origin within a user‑specified time. Simulation results verify the effectiveness of the proposed control strategy
Keywords:
formation control
sliding mode control
multi-agent systems
deception attacks
predefined-time convergence
Journal
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2.6
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323
Citations:
2.5K
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