Resilient Consensus Control for Multiple UAVs With Input Saturation Under DoS Attacks.

Area of Science:

• Robotics
• Control Systems Engineering
• Network Security

Background:

• Multiple unmanned aerial vehicles (UAVs) face challenges in coordinated control due to input saturation and external Denial of Service (DoS) attacks.
• Ensuring resilient consensus control under these adverse conditions is critical for reliable UAV operations.

Purpose of the Study:

• To propose a novel resilient consensus control method for nonlinear multiple UAV systems.
• To address the complexities of input saturation and DoS attacks in UAV communication networks.
• To guarantee system stability and security during communication disruptions.

Main Methods:

• An adaptive compensating term was developed to manage input saturation constraints based on the UAV dynamic model.
• A fixed-time security constraint estimator (FTSCE) was designed to ensure UAV stability and security during DoS attacks.
• Unknown states were estimated to minimize information transfer, and relative position/velocity states were utilized for controller design.

Main Results:

• The proposed method effectively handles input saturation in nonlinear UAV systems.
• The FTSCE ensures system stability and security even when communication is interrupted by DoS attacks.
• Lyapunov stability analysis confirmed the guaranteed stability of the system with the proposed controller.

Conclusions:

• The developed resilient consensus control method is effective for nonlinear multiple UAVs.
• The approach provides robust performance against input saturation and DoS attacks.
• Numerical simulations validated the proposed method's effectiveness in maintaining UAV coordination and stability.