Event-Based Formation Control for Multi-UAV Systems Under DoS and Deception Attacks

Intermittent random denial-of-service attacks (IRDoS) and deception attacks in multi-UAV systems (MUAVs) can present significant security challenges. The intrusions of IRDoS attacks and deception attacks, respectively, can interrupt the network communication among followers and manipulate the received neighbor information with a certain probability, failing MUAVs to complete the formation task. A secure formation controller is developed for MUAVs in the presence of IRDoS and deception attacks, utilizing a distributed dynamic event-triggered mechanism (DETM). Unlike the static event-triggered mechanism, the triggering threshold of the DETM is adaptively adjustable, which can reduce data transmission and save network resources. The stability of the system is analyzed, and sufficient conditions are derived. Additionally, the duration and probability of successful attacks are examined. Ultimately, the simulation results showcase the efficacy and superiority of the suggested approach.