Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks
Abstract
:1. Introduction
- In order to save the limited communication network resources, the novel ET mechanism is illustrated, in comparison with some existing results [28,29], in which only the ET mechanism in the control channel is considered. The event-triggered mechanism is also presented by using the triggered state directly, which may cause chattering of the controller once actuator faults or DoS attacks occur. In this work, the ET mechanism in the sensor and controller channel are both considered. The presented ET mechanism can balance the limited communication network resources and information utilization. Furthermore, the Zeno behavior is excluded.
- The composite observer is presented, in which the state is estimated and the lumped disturbances are reconstructed utilizing the estimated state and the sensor channel triggered outputs without using the disturbance upper bound. In this way, the unknown variables are estimated with less information. In contrast to some existing results [30,31], in which the upper bound information of disturbances should be known when designing the disturbance observer, the results of this work provide another method to estimate the disturbances.
- An observer-based ET-FTCC scheme, including FTC compensation, disturbances degradation, and DoS prevention components, is studied. To obtain good system performance, a modified PPF is presented to convert the tracking errors, thereby relaxing the requirement for the exact initial conditions. In contrast to the work in [32], in which the control input is blocked when the DoS attack is active, the data at the instant when the attacker is switched between asleep and active in this work is triggered and utilized as a compensation component.
2. Preliminaries
2.1. Graph Theory
2.2. Actuator Fault Model
2.3. DoS Attack Model
3. Problem Formulation
3.1. UAV Dynamics
3.2. UGV Dynamics
3.3. Model Transformation
3.4. Control Objective
4. Main Results
4.1. Event-Triggered Mechanism Design
4.2. Observer Design
4.3. FTCC Design
5. Simulation Studies
5.1. Simulation Conditions
5.2. Simulation Results
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Liu, S.; Huang, J. Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks. Mathematics 2024, 12, 2701. https://doi.org/10.3390/math12172701
Liu S, Huang J. Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks. Mathematics. 2024; 12(17):2701. https://doi.org/10.3390/math12172701
Chicago/Turabian StyleLiu, Shangkun, and Jie Huang. 2024. "Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks" Mathematics 12, no. 17: 2701. https://doi.org/10.3390/math12172701
APA StyleLiu, S., & Huang, J. (2024). Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks. Mathematics, 12(17), 2701. https://doi.org/10.3390/math12172701