Probability-Selection-Based Event-Triggered Secure Formation Control for Multi-UAV Systems With Multiple Leaders
Tingting Yin, Zhou Gu, Ju H. Park
Abstract
This study is devoted to event-triggered secure formation control of multi-UAV systems with multiple leaders. The leadership structure comprises one reference leader supplying a macroscopical flight trajectory to the other UAVs, and some formation leaders spanning the convex hull tracked by follower UAVs. Unlike the UAV system relying on a single leader's information, each UAV in this system tracks the convex combination of multiple leaders' states, enhancing the system's resilience to the potential information loss from certain leaders. To mitigate the network overload, a probability-selection-based event-triggered mechanism (PETM) is designed to schedule the network transmissions of sampling signals from a multi-UAV system. The transmission assignment is determined by two steps. To begin with, triggering packets employing the conventional ETMs are relabeled, and then a probability selection scheme is applied to ascertain which one is the actual transmitted packet (ATP). This approach significantly reduces redundant transmission data, particularly when the UAV system is approaching stability, thereby optimizing network resource allocation. Considering deception attacks, the PETM-based tracking control strategy is formulated for the multi-UAV system with multiple leaders by employing the Lyapunov stability theory. Simulation results are presented to manifest the efficacy of the proposed method.