Adaptive Observer-based Security Formation Control for Multiple Unmanned Aerial Vehicles under Cyber-Attacks
Bing Han, Ju Jiang, Teng Cao, Jicheng Liu · 2021 China Automation Congress (CAC) · 2021
This paper addresses the security formation control issue of multiple unmanned aerial vehicles under cyber-attacks. The deception attacks on control input and output channels are considered simultaneously. An adaptive observer is design to estimate the effects of the malicious attacks. The formation control problem is transformed into a tracking control problem rely on a distributed estimator of leader. Based on the adaptive observer, a security formation controller is proposed to remove the effects of attacks by sliding mode control technique, which can guarantee the formation error can converge to zero. Finally, simulation experiment is conducted to illustrate the effectiveness and performance of the security formation control strategy proposed in this paper.