IDEAS home Printed from https://ideas.repec.org/a/eee/chsofr/v202y2026ip1s0960077925014432.html

Secure flocking dynamics of swarms over cooperative-antagonistic networks

Author

Listed:
  • Yue, Jiangfeng
  • Li, Weihao
  • Shi, Lei
  • Shi, Mengji
  • Lin, Boxian
  • Qin, Kaiyu

Abstract

To achieve collaborative multi-task execution for heterogeneous agent groups, this paper proposes an event-triggered predefined-time bipartite flocking controller, which leverages the convergence and divergence characteristics of agents under cooperative-antagonistic interaction networks. For agent teams to adapt to complex environments, including privacy preservation, obstacle avoidance, resource efficiency and rapid convergence, a series of key technical methods are incorporated. In particular, a decentralized, time-varying transformation is introduced to encrypt agent states and ensure privacy security. A local motion planner is incorporated to perform real-time obstacle avoidance and prevent inter-agent collisions, thereby enhancing physical security. Moreover, the controller is integrated with predefined-time theory to guarantee convergence within a predetermined time, and an event-triggered mechanism is designed to reduce signal frequency, alleviating actuation burden and saving communication and computational resources. The effectiveness of the unified controller under complex constraints is demonstrated through extensive numerical simulations.

Suggested Citation

  • Yue, Jiangfeng & Li, Weihao & Shi, Lei & Shi, Mengji & Lin, Boxian & Qin, Kaiyu, 2026. "Secure flocking dynamics of swarms over cooperative-antagonistic networks," Chaos, Solitons & Fractals, Elsevier, vol. 202(P1).
    • Handle: RePEc:eee:chsofr:v:202:y:2026:i:p1:s0960077925014432
    DOI: 10.1016/j.chaos.2025.117430
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0960077925014432
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.chaos.2025.117430?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to

    for a different version of it.

    References listed on IDEAS

    as
    1. Han, Chenglin & Qin, Kaiyu & Shi, Mengji & Liu, Yan & Li, Weihao & Lin, Boxian, 2024. "Prescribed time bipartite output consensus tracking for heterogeneous multi-agent systems with external disturbances," Applied Mathematics and Computation, Elsevier, vol. 469(C).
    2. Abouelmagd, Elbaz I. & Alshaery, A.A. & Gao, Fabao, 2024. "New dynamical system for circular satellites relative motion," Chaos, Solitons & Fractals, Elsevier, vol. 182(C).
    3. Ahn, Hyunjin, 2024. "Finite-time flocking of uncountable agents," Chaos, Solitons & Fractals, Elsevier, vol. 185(C).
    4. Beregov, R.Y. & Melkikh, A.V., 2021. "Auto-oscillations and chaos at collective motion of agents," Chaos, Solitons & Fractals, Elsevier, vol. 143(C).
    5. Goles, Eric & Medina, Pablo & Montealegre, Pedro & Santivañez, Julio, 2022. "Majority networks and consensus dynamics," Chaos, Solitons & Fractals, Elsevier, vol. 164(C).
    6. Lu, Jiaqi & Qin, Kaiyu & Li, Meng & Lin, Boxian & Shi, Mengji, 2024. "Robust finite/fixed-time bipartite flocking control for networked agents under actuator attacks and perturbations," Chaos, Solitons & Fractals, Elsevier, vol. 180(C).
    7. Lin, Funing & Xue, Guangming & Qin, Bin & Li, Shenggang & Liu, Heng, 2023. "Event-triggered finite-time fuzzy control approach for fractional-order nonlinear chaotic systems with input delay," Chaos, Solitons & Fractals, Elsevier, vol. 175(P2).
    8. Athanasios Koulianos & Antonios Litke, 2023. "Blockchain Technology for Secure Communication and Formation Control in Smart Drone Swarms," Future Internet, MDPI, vol. 15(10), pages 1-22, October.
    9. Anand, Amit & Guha, Dipayan & Purwar, Shubhi, 2024. "Adaptive consensus control of leader-follower multi-agent system with actuator deception attacks," Chaos, Solitons & Fractals, Elsevier, vol. 187(C).
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Li, Xin & He, Dakuo & Zhang, Qiang & Liu, Hailong, 2026. "Dynamic memory event-triggered interval type-2 fuzzy RBFNN control for multi-agent systems under false data injection attacks," Applied Mathematics and Computation, Elsevier, vol. 508(C).
    2. Zhao, Xiao-Wen & Deng, Dong-Dong & Ge, Ming-Feng & Liu, Zhi-Wei, 2024. "Neural adaptive predefined-time formation tracking control of multiple Euler–Lagrange systems with switching topologies based on hierarchical mechanism," Chaos, Solitons & Fractals, Elsevier, vol. 178(C).
    3. Xu, Bei & Zhu, Yanping & Bai, Guanghan & Lin, Cong, 2026. "Improved swarm model with informed agents to prevent stealth attackers based on a vigilance mechanism," Reliability Engineering and System Safety, Elsevier, vol. 267(PA).
    4. Manh Hung Nguyen & Kyoung Kwan Ahn, 2024. "A Finite-Time Disturbance Observer for Tracking Control of Nonlinear Systems Subject to Model Uncertainties and Disturbances," Mathematics, MDPI, vol. 12(22), pages 1-16, November.
    5. Gao, Shanshan & Zhang, Shenggui & Chen, Xinzhuang, 2023. "Effects of changing the weights of arcs on the consensus convergence rate of a leader–follower multi-agent system," Chaos, Solitons & Fractals, Elsevier, vol. 172(C).
    6. Ma, Bao & Gao, Fabao, 2025. "Dynamic behavior of variable mass R4BP with radiating and oblate primaries," Chaos, Solitons & Fractals, Elsevier, vol. 191(C).
    7. Xiaofeng Cheng & Xisheng Zhan & Na Zhao & Jie Wu, 2025. "Distributed Event‐Triggered Adaptive Control for Consensus of Actuator Fault Multiagent Systems With Parameter Uncertainty and External Disturbances," Discrete Dynamics in Nature and Society, John Wiley & Sons, vol. 2025(1).
    8. Njougouo, Thierry & Reina, Andreagiovanni & Tuci, Elio & Carletti, Timoteo, 2024. "On the impact of zealots in a population of susceptible agents in a best-of-n problem within a heterogeneous network," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 655(C).
    9. Zhang, Xiyu & Feng, Chun & Zhou, Youjun & Deng, Xiongfeng, 2025. "Fixed-time tracking control for fractional-order uncertain parametric nonlinear systems with input delay: A command filter-based neuroadaptive control method," Chaos, Solitons & Fractals, Elsevier, vol. 199(P2).
    10. Xiang, Aoxue & Zhao, Xinyuan & Ma, Ruicheng, 2026. "Finite-horizon optimal herdability control for hierarchical linear multi-agent systems with signed weighted graphs," Applied Mathematics and Computation, Elsevier, vol. 514(C).
    11. Alsaadi, Fuad E. & Alharbi, Njud S. & Al-Barakati, Abdullah A., 2026. "Nonlinear dynamics and uncertainty-aware control of prosthetic systems using Bayesian Neural Networks and finite-time disturbance compensation," Chaos, Solitons & Fractals, Elsevier, vol. 202(P2).
    12. Liu, Yiliu & Liu, Chun & Ren, Xiaoqiang & Lan, Jianglin & Wang, Xiaofan, 2025. "Distributed fault-tolerant consensus tracking control for multi-agent systems under multiple attacks: An encoding–decoding strategy," Chaos, Solitons & Fractals, Elsevier, vol. 200(P3).
    13. Nikaki, Aikaterini & Perdiou, Angela & Tsirogiannis, George & Kalantonis, Vassilis, 2025. "Orbital dynamics at the equilibrium points under velocity perturbations in the CRTBP: Application to the earth-moon system," Chaos, Solitons & Fractals, Elsevier, vol. 199(P1).
    14. Li, Xin & He, Dakuo & Zhang, Qiang & Liu, Hailong, 2025. "Reinforcement learning-based adaptive event-triggered control of multi-agent systems with time-varying dead-zone," Applied Mathematics and Computation, Elsevier, vol. 486(C).
    15. Yuansong Qiao, 2025. "Blockchain and Artificial Intelligence for Decentralized Edge Environments," Future Internet, MDPI, vol. 17(1), pages 1-2, January.

    More about this item

    Keywords

    ;
    ;
    ;
    ;
    ;

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:chsofr:v:202:y:2026:i:p1:s0960077925014432. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Thayer, Thomas R. (email available below). General contact details of provider: https://www.journals.elsevier.com/chaos-solitons-and-fractals .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.