Topology-Uncertain Multi-UAV Formation Control Algorithms Against Hybrid Cyberattacks

Abstract

This article investigates the formation control problem of multiunmanned aerial vehicle (UAV) systems under topological uncertainties and hybrid cyberattacks. A distributed formation control protocol is proposed. This protocol integrates a distributed state estimator to handle unmeasurable velocity states. Considering practical scenarios, a hybrid attack model targeting specific communication links is constructed, which consists of probabilistic deception attacks and denial-of-service (DoS) attacks. To actively confront intelligent attacks, the interaction between the controller and the attacks is formulated as a zero-sum game, where the Nash equilibrium ensures a guaranteed $H_{\infty }$ performance level. Under such adversarial conditions, a rigorous stability analysis of the augmented error system is conducted. Based on Lyapunov stability theory and linear matrix inequality (LMI) techniques, sufficient conditions for the stability of the augmented error system are derived. Finally, simulation results demonstrate that the system can achieve a time-varying formation even under high-intensity cyberattacks.