Formation Control for Multiple Quadrotors Under DoS Attacks via Singular Perturbation
Ying Zhang, Lei Ma, Chunyu Yang, Linna Zhou, Guoqing Wang, Wei Dai
Abstract
This article looks into the topic of distributed formation control for a group of quadrotors that are vulnerable to denial-of-service (DoS) attacks. By preventing information interaction between adjacent quadrotors, the DoS attacks, which happen independently on individual communication channels, disrupt the formation mission. A decomposition-combination control framework is devised for the formation task. The corresponding high-order dynamic system is partitioned into slow and fast subsystems using the singular perturbation technique, which lessens the computing load and resolves the under-driven issue. A composition formation control scheme is then put forward, which includes a resilient slow-scale controller to tackle DoS attacks along with an optimal fast-scale controller to assure flying performance and stability. It should be noted that position and velocity information, which can be acquired and processed entirely by subcontroller in the proposed method, is the main content of communication between quadrotors, permitting more effective system execution. Finally, a slow-fast composition mechanism is provided, and simulation results of a system containing four quadrotors serve as validation for the suggested methods.