Active Resilient Secure Control for Heterogeneous Swarm Systems Under Malicious Cyber-Attacks
针对异构蜂群系统在恶意网络攻击下的安全控制问题，提出一种主动弹性编队跟踪控制策略，通过观测器检测和估计攻击信号，设计分布式安全控制协议，并利用事件触发技术节省通信资源。
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.