Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework

作     者：Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui Xin Gong;Michael V.Basin;Zhiguang Feng;Tingwen Huang;Yukang Cui

作者机构：School of Cyber Science and EngineeringSoutheast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical EngineeringThe University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciencesthe Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment TechnologyNingbo 315299China College of Intelligent Systems Science and EngineeringHarbin Engineering UniversityHarbin 150001China Texas A&M University at QatarDoha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotsthe College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng LaboratoryShenzhen 518000China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第4期

页      面：969-984页

核心收录：

学科分类：08[工学] 082503[工学-航空宇航制造工程] 0835[工学-软件工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 080201[工学-机械制造及其自动化] 

基　　金：This work was supported in part by the National Natural Science Foundation of China(61903258) Guangdong Basic and Applied Basic Research Foundation(2022A1515010234) the Project of Department of Education of Guangdong Province(2022KTSCX105) Qatar National Research Fund(NPRP12C-0814-190012) 

主　　题：Composite attacks multi-UAV systems resilient control time-varying formation-tracking 

摘      要：This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.