Active Resilient Secure Control for Heterogeneous Swarm Systems Under Malicious Cyber-Attacks
Yishi Liu, Xiwang Dong, Enrico Zio, Ying Cui
Abstract
This article concentrates on the design of an active resilient formation tracking control strategy for heterogeneous swarm systems (HSS) under malicious cyber-attacks. The attack signals, which are injected into both actuator and sensor randomly, can be detected and estimated by using an observer-based attack estimation scheme. The compromised measured outputs of individuals in the swarm are used to design the distributed secure control protocol and the consensus-based formation condition. For each follower, a compensator is designed to address the secure formation tracking problem for HSS using an approximate model following strategy. Moreover, the event-triggered technique is utilized to achieve the time-varying formation and to track the leader, and saves the communication resource in practice. Finally, a numerous simulation for a heterogeneous swarm system with three different dynamics nodes is presented to verify the effectiveness of the proposed secure approach.