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 

机构地区：[1]School of Cyber Science and Engineering,Southeast University,Nanjing 210096,the School of Astronautics,Northwestern Polytechnical University,Xi’an 710072 [2]Department of Mechanical Engineering,The University of Hong Kong,Hong Kong 999077,China [3]School of Physical and Mathematical Sciences,the Autonomous University of Nuevo Leon,Naevo Leon 66455,Mexico [4]Ningbo Institute of Intelligent Equipment Technology,Ningbo 315299,China [5]College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China [6]Texas A&M University at Qatar,Doha 23874,Qatar [7]Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots,the College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen 518060 [8]Peng Cheng Laboratory,Shenzhen 518000,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第4期969-984,共16页自动化学报（英文版）

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).

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 layer.First,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources considerably.The upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is calculated.Second,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is designed.Moreover,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given explicitly.The 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.

关 键 词：Composite attacks multi-UAV systems resilient control time-varying formation-tracking 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]