Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework
Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework
复制标题
多无人机系统抵御复合攻击的弹性时变编队跟踪：两层框架
DOI：
10.1109/jas.2023.123339
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发表时间：
2023-04
期刊：
影响因子：
--
通讯作者：
Yukang Cui
中科院分区：
文献类型：
--
作者：
Xin Gong;Michael Basin;Zhiguang Feng;Tingwen Huang;Yukang Cui
本文研究了单路通信多无人机系统分布式弹性时变编队跟踪控制的对策设计问题，以应对包括拒绝服务攻击（DoS）、假数据注入攻击、伪装攻击和驱动攻击（AAs）在内的复合攻击。受数字孪生概念的启发，提出了一种新的两层协议，该协议具有安全、私有的孪生层（TL），将上述问题解耦为TL上的DoS攻击防御方案和网络物理层上的AAs防御方案。首先，通过无芝诺事件触发估计方案实现了针对频率受限DoS攻击的拓扑修复策略，大大节省了通信资源。计算修复后的拓扑在发生DoS攻击后启动所需反应时间的上界。其次，设计了一种针对潜在无界aa的分散自适应消颤控制器。此外，该自适应控制器能够达到一致的最终有界收敛，其误差界可以明确地给出。通过仿真算例和搭载超宽带和WiFi通信信道的无人机群实验，验证了该双层协议的实用性和有效性。
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 topology-repairing 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.
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