Ren Ziming, Liu Hao, Wen Guanghui, Lu Jinhu
IEEE Trans Cybern. 2024 Oct 2;PP. doi: 10.1109/TCYB.2024.3467178.
In this article, the security formation control problem is investigated for underactuated quadrotors involving nonlinear coupled dynamics, subject to denial-of-service (DoS) attacks and uncertain communication faults. A security formation control method is proposed, including a distributed resilient observer and a hierarchical data-driven controller. The observer with an adaptive event-triggered mechanism is developed to restrain the influence of DoS and communication faults on interaction information among quadrotors, and Zeno behavior of all observers can be avoided. The optimal control laws are learned iteratively based on observation data and system data by utilizing reinforcement learning without knowledge of system dynamics. The stability of the constructed closed-loop control system is proven, and sufficient conditions are established for the unreliable network. Simulation results demonstrate the advantages of the proposed security control method.
本文研究了受拒绝服务（DoS）攻击和不确定通信故障影响的、具有非线性耦合动力学的欠驱动四旋翼飞行器的安全编队控制问题。提出了一种安全编队控制方法，包括分布式弹性观测器和分层数据驱动控制器。开发了具有自适应事件触发机制的观测器，以抑制DoS和通信故障对四旋翼飞行器间交互信息的影响，并且可以避免所有观测器的芝诺行为。在无需系统动力学知识的情况下，利用强化学习基于观测数据和系统数据迭代学习最优控制律。证明了所构建闭环控制系统的稳定性，并为不可靠网络建立了充分条件。仿真结果表明了所提安全控制方法的优势。
