Distributed Resilient Formation Control for Takagi--Sugeno Fuzzy MASs Under DoS Attacks and Communication Delays

This paper investigates the fuzzy distributed resilient formation control problem of Takagi–Sugeno (T–S) fuzzy MASs under DoS attacks and communication delays. Since the communication network among MASs is subject to DoS attacks and communication delays, the leader’s states cannot be obtained continuously by each agent. A fuzzy distributed resilient estimator is first proposed to estimate the leader’s state subject to DoS attacks and communication delays. By constructing a Lyapunov-Krasovskii functional, it is demonstrated that the estimation errors of the fuzzy resilient estimator exponentially converge to zero. Secondly, based on the formulated fuzzy distributed resilient estimator and parallel distributed compensation (PDC) algorithm, a fuzzy distributed resilient formation controller is developed. The presented fuzzy distributed resilient formation control strategy ensures that the controlled T–S fuzzy MASs remain stable and achieve the formation objective. Finally, the developed fuzzy distributed resilient formation control method is applied to the single-link robot arm systems, the effectiveness is demonstrated by simulation and comparison results.