College of Mechanical & Electronic Engineering, Nanjing Forestry University, Nanjing 210037, PR China.
ISA Trans. 2023 Jun;137:111-121. doi: 10.1016/j.isatra.2023.01.018. Epub 2023 Jan 20.
This paper focuses on the problem of formation control for multiple unmanned aerial vehicles (UAV) subject to cyber attacks by a novel event-triggered communication scheme. An average method is introduced to design the triggering condition of this communication scheme, by which the amount of wrong triggering events caused by the sudden change of system states is greatly decreased, thereby saving a great deal of network bandwidth and reducing network congestion. Considering cyber attacks, a new event-based formation control strategy is developed for multi-UAV systems under directed topology by utilizing a control compensation approach. Sufficient conditions for the multi-UAV system to achieve the desired formation are acquired. Finally, a simulation example is undertaken to demonstrate the effectiveness of the theoretical results.
本文针对受到网络攻击的多架无人机（UAV）的编队控制问题，提出了一种新的基于事件触发的通信方案。本文采用平均方法设计了该通信方案的触发条件，极大地减少了由于系统状态的突然变化而导致的错误触发事件的数量，从而节省了大量的网络带宽，减轻了网络拥塞。考虑到网络攻击，本文利用控制补偿方法，针对有向拓扑结构下的多无人机系统，提出了一种新的基于事件的编队控制策略。获得了多无人机系统达到期望编队的充分条件。最后，通过仿真示例验证了理论结果的有效性。
