Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Attack-resilient distributed formation control via online adaptation
Minghui Zhu, and Sonia MartÃnez
Proceedings of the 50th IEEE Int. Conference on Decision and Control and European Control Conference, Orlando, FL, USA, December 2011
Abstract:
This paper investigates a distributed formation control problem where a group of vehicles is remotely controlled by a network of operators. Each vehicle-operator pair is attacked by an adversary, who corrupts the commands sent from the operator to the vehicle following a partially unknown strategy. We propose a novel distributed control algorithm that allows operators to adapt their policies online by exploiting the latest collected information about adversaries. The algorithm enables vehicles to asymptotically achieve the desired formation from any initial configuration and initial estimate of the adversaries' strategies. It is shown that the sequence of the distances to the desired formation is summable. A numerical example is provided to illustrate the performance of the algorithm. In particular, we observe that the rate of convergence to the desired formation is exponential, outperforming our theoretical result.
File: main.pdf
Bib-tex entry:
@InProceedings{MZ-SM:11-cdc,
author = {M. Zhu and S. Mart{\'\i}nez},
booktitle = {IEEE International Conference on Decision and Control and European Control Conference},
title = {Attack-resilient distributed formation control via online
adaptation},
year = {2011},
month = {December},
address = {Orlando, FL, USA},
pages = {6624--6629}
}