Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework

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.

[1]  Zhanshan Wang,et al.  Distributed Resilient Tracking of Multiagent Systems Under Actuator and Sensor Faults , 2021, IEEE Transactions on Cybernetics.

[2]  C. Hua,et al.  Leaderless and Leader-Following Bipartite Consensus of Multiagent Systems With Sampled and Delayed Information , 2021, IEEE Transactions on Neural Networks and Learning Systems.

[3]  Chunjie Zhou,et al.  Passivity-Based Robust Control Against Quantified False Data Injection Attacks in Cyber-Physical Systems , 2021, IEEE/CAA Journal of Automatica Sinica.

[4]  Jiuxiang Dong,et al.  Distributed Fault-Tolerant Containment Control for Nonlinear Multi-Agent Systems Under Directed Network Topology via Hierarchical Approach , 2021, IEEE/CAA Journal of Automatica Sinica.

[5]  G. Wen,et al.  Resilient Consensus of Multiagent Systems Under Malicious Attacks: Appointed-Time Observer-Based Approach , 2021, IEEE Transactions on Cybernetics.

[6]  Dilin Pan,et al.  UAV Stocktaking Task-Planning for Industrial Warehouses Based on the Improved Hybrid Differential Evolution Algorithm , 2021, IEEE Transactions on Industrial Informatics.

[7]  Tingwen Huang,et al.  Distributed Prescribed-Time Interval Bipartite Consensus of Multi-Agent Systems on Directed Graphs: Theory and Experiment , 2021, IEEE Transactions on Network Science and Engineering.

[8]  Wei Liu,et al.  Leader-Following Consensus for Linear Multiagent Systems via Asynchronous Sampled-Data Control , 2020, IEEE Transactions on Automatic Control.

[9]  Frank L. Lewis,et al.  Resilient Output Containment of Heterogeneous Cooperative and Adversarial Multigroup Systems , 2020, IEEE Transactions on Automatic Control.

[10]  Frank L. Lewis,et al.  Distributed Resilient Secondary Control of DC Microgrids Against Unbounded Attacks , 2020, IEEE Transactions on Smart Grid.

[11]  Yang Yang,et al.  Distributed Secure Consensus Control With Event-Triggering for Multiagent Systems Under DoS Attacks , 2020, IEEE Transactions on Cybernetics.

[12]  Xiaoheng Deng,et al.  An Influence Model Based on Heterogeneous Online Social Network for Influence Maximization , 2020, IEEE Transactions on Network Science and Engineering.

[13]  H. Khalil,et al.  Nonlinear systems , 2020, Student Solution Manual for Differential Equations: Techniques, Theory, and Applications.

[14]  Martin Gunnarsson,et al.  A Digital Twin Based Industrial Automation and Control System Security Architecture , 2020, IEEE Transactions on Industrial Informatics.

[15]  G. Hu,et al.  Time-Varying Formation Tracking for UAV Swarm Systems With Switching Directed Topologies , 2019, IEEE Transactions on Neural Networks and Learning Systems.

[16]  MengChu Zhou,et al.  A survey of multi-robot regular and adversarial patrolling , 2019, IEEE/CAA Journal of Automatica Sinica.

[17]  Gang Feng,et al.  Consensus of Heterogeneous Linear Multiagent Systems Subject to Aperiodic Sampled-Data and DoS Attack , 2019, IEEE Transactions on Cybernetics.

[18]  Farhad Farokhi,et al.  Secure and Private Implementation of Dynamic Controllers Using Semihomomorphic Encryption , 2018, IEEE Transactions on Automatic Control.

[19]  Songlin Hu,et al.  Event-based robust stabilization of uncertain networked control systems under quantization and denial-of-service attacks , 2018, Inf. Sci..

[20]  Zhihua Qu,et al.  Competitive Interaction Design of Cooperative Systems Against Attacks , 2018, IEEE Transactions on Automatic Control.

[21]  Guang-Hong Yang,et al.  Decentralized adaptive fault-tolerant control for large-scale systems with external disturbances and actuator faults , 2017, Autom..

[22]  Guoqiang Hu,et al.  Distributed secure leader-following consensus of multi-agent systems under DoS attacks and directed topology , 2017, 2017 IEEE International Conference on Information and Automation (ICIA).

[23]  Zhang Ren,et al.  Time-Varying Formation Tracking for Second-Order Multi-Agent Systems Subjected to Switching Topologies With Application to Quadrotor Formation Flying , 2017, IEEE Transactions on Industrial Electronics.

[24]  Guoqiang Hu,et al.  Distributed secure average consensus for linear multi-agent systems under DoS attacks , 2017, 2017 American Control Conference (ACC).

[25]  Guoqiang Hu,et al.  Distributed Secure Coordinated Control for Multiagent Systems Under Strategic Attacks , 2017, IEEE Transactions on Cybernetics.

[26]  Thomas Bäck,et al.  Towards robustness optimization of complex networks based on redundancy backup , 2015, 2015 IEEE Congress on Evolutionary Computation (CEC).

[27]  Gang Feng,et al.  Self-Triggered Consensus for Multi-Agent Systems With Zeno-Free Triggers , 2015, IEEE Transactions on Automatic Control.

[28]  Tansel Yucelen,et al.  Resilient networked multiagent systems: A distributed adaptive control approachy , 2014, 53rd IEEE Conference on Decision and Control.

[29]  Fei Hu,et al.  Detection of Faults and Attacks Including False Data Injection Attack in Smart Grid Using Kalman Filter , 2014, IEEE Transactions on Control of Network Systems.

[30]  Yisheng Zhong,et al.  Time-varying formation control for unmanned aerial vehicles with switching interaction topologies , 2014, 2014 International Conference on Unmanned Aircraft Systems (ICUAS).

[31]  Baris Fidan,et al.  Distributed Cohesive Motion Control of Flight Vehicle Formations , 2013, IEEE Transactions on Industrial Electronics.

[32]  Vijay Kumar,et al.  Minimum snap trajectory generation and control for quadrotors , 2011, 2011 IEEE International Conference on Robotics and Automation.

[33]  Ralph Langner,et al.  Stuxnet: Dissecting a Cyberwarfare Weapon , 2011, IEEE Security & Privacy.

[34]  D. Bernstein Matrix Mathematics: Theory, Facts, and Formulas , 2009 .

[35]  W. E. Roth,et al.  The equations $AX-YB=C$ and $AX-XB=C$ in matrices , 1952 .

[36]  Quanyan Zhu,et al.  Cross-Layer Design for Secure and Resilient Cyber-Physical Systems: A Decision and Game Theoretic Approach , 2020, Advances in Information Security.

[37]  Guang-Hong Yang,et al.  Fault-tolerant output-constrained control of unknown Euler-Lagrange systems with prescribed tracking accuracy , 2020, Autom..

[38]  Guang-Hong Yang,et al.  Robust Adaptive Fault-Tolerant Control for a Class of Unknown Nonlinear Systems , 2017, IEEE Transactions on Industrial Electronics.

[39]  Yisheng Zhong,et al.  Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications , 2015, IEEE Transactions on Control Systems Technology.