# Rendering compact formation and trajectory tracking for cyber unmanned ground vehicles

## TL;DR

This paper presents a control strategy for a group of connected unmanned ground vehicles to maintain formation and track trajectories despite cyber interference.

## Contribution

A novel cooperative adaptive robust control method is proposed to handle cyber interference and system uncertainty in unmanned ground vehicle swarms.

## Key findings

- The proposed control ensures global stability and compact formation of the vehicle swarm.
- The system achieves cooperative hunting and trajectory tracking under cyber interference.
- The method effectively decomposes system uncertainty and enforces constraints.

## Abstract

This paper considers the cooperative control problem for the unmanned ground vehicle swarm system with cyber interference. Each vehicle in the system is intelligent and connected with each other via networks. The cyber security issue is inevitable and vital in the control design for the swarm system. Taking account of the cyber interference and system uncertainty, we explore the cooperative control for the unmanned ground vehicle swarm system. In order to describe the behaviors of mutual attraction, repulsion and overall trajectory tracking in a mathematical manner, we abstract the integrated potential function, thereby the kinematic model. Treating the mathematical model as the system constraint and decomposing the system uncertainty, we propose a class of cooperative adaptive robust controls to assure that all the unmanned ground vehicles follow the constraint to move. Four major system performances are achieved: (i) global stability (i.e., uniform boundedness and uniform ultimate boundedness), (ii) compact formation, (iii) cooperative hunting, (iv) trajectory tracking.