LAUSR

A novel resilient structure is proposed to solve time-varying output formation tracking problem of heterogeneous multiagent systems (MASs) with unknown leader under contested environments in this article. The proposed novel resilient structure can not only attenuate the impact of attacks on the sensor and actuator of follower but also compensate the effect of attacks on the communication network. It contains two types of attacks in contested environments, one of which is an attack on the sensor or actuator of followers, called Attack type I. Another attack on communication networks is Attack type II. Solving the time-varying output formation tracking problem is divided into two steps. The first step is to design the compensation control signal to realize formation problem and the second step is to design the optimal control law to realize the tracking problem. Assuming that the state of leader is unknown, a novel resilient observer is first designed to estimate the state of leader for each follower, as well as compensate the effect of Attack type II. Then, with the information of observer, $H_{\infty }$ controller is designed for each follower to attenuate the impact of Attack type I. Finally, the effectiveness of the proposed novel resilient structure is verified by a simulation example.