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One salient feature of cooperative formation tracking is its distributednature that relies on localized control and information sharing over a sparsecommunication network. That is, a distributed control manner could be prone tomalicious attacks and unreliable communication that deteriorate the formationtracking performance or even destabilize the whole multi-agent system. Thispaper studies a safe and reliable time-varying output formation trackingproblem of linear multi-agent systems, where an attacker adversely injects anyunbounded time-varying signals (false data injection (FDI) attacks), while aninterruption of communication channels between the agents is caused by anunreliable network. Both characteristics improve the practical relevance of theproblem to be addressed, which poses some technical challenges to thedistributed algorithm design and stability analysis. To mitigate the adverseeffect, a novel resilient distributed control architecture is established toguarantee time-varying output formation tracking exponentially. The keyfeatures of the proposed framework are threefold: 1) an observer-basedidentifier is integrated to compensate for adverse effects; 2) a reliabledistributed algorithm is proposed to deal with time-varying topologies causedby unreliable communication; and 3) in contrast to the existing remedies thatdeal with attacks as bounded disturbances/faults with known knowledge, wepropose resilience strategies to handle unknown and unbounded attacks forexponential convergence of dynamic formation tracking errors, whereas most ofexisting results achieve uniformly ultimately boundedness (UUB) results.Numerical simulations are given to show the effectiveness of the proposeddesign.

Resilient Time-Varying Output Formation Tracking of Linear Multi-Agent Systems Against Unbounded FDI Sensor Attacks and Unreliable Digraphs