Abstract
The resilient cooperative source seeking problem of double-integrator multi-robot systems under d-local deception attacks is investigated. In this article, we first propose a resilient cooperative control algorithm and present a necessary and sufficient condition for its achievement of resilient consensus. Then, through applying the particle swarm optimization algorithm to the resilient cooperative control algorithm, a resilient cooperative source seeking algorithm is proposed. We show that this algorithm can solve the source seeking problems under d-local deception attacks with an additional potential of addressing the multiple local extrema case. Finally, the feasibility of the proposed algorithms is illustrated by simulation and experimental results.
Original language | English |
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Pages (from-to) | 4218-4227 |
Number of pages | 10 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 68 |
Issue number | 5 |
DOIs | |
Publication status | Published - 2021 |
Keywords
- algorithms
- deception
- robots, industrial