虚假数据注入攻击下多无人机韧性容错协同控制

Resilient Fault-tolerant Cooperative Control of Multi-UAV Against False Data Injection Attacks

针对同时具有虚假数据注入(false data injection,FDI)攻击与执行器故障下的多无人系统编队协同跟踪问题,提出了一种基于FDI攻击检测机制与故障观测器的韧性容错协同控制新方法。首先,以二阶非线性固定翼无人机模型作为多无人系统研究对象;其次,构建了带有概率约束的贝叶斯概率检测模型对FDI攻击进行检测,作为韧性容错协同控制器的辅助系统;之后,设计了包含执行器故障补偿的韧性容错协同跟踪控制器,并利用Lyapunov稳定性理论证明系统的渐进稳定;最后,通过仿真验证了设计的控制器针对FDI攻击与执行器故障的安全性与可靠性以及编队跟踪能力。

For the cooperative tracking problem of multi-unmanned systems formation under both False Data Injection(FDI)attack and actuator fault,a new method named Resilient Fault-Tolerant Cooperative Control(RFTCC)is proposed based on an FDI attack detection mechanism and fault observer.Firstly,the second-order nonlinear fixed-wing UAV model is taken as the multi-unmanned systems research object.Secondly,a Bayesian probabilistic detection model with probability constraints is constructed to detect FDI attacks as an auxiliary system of the attack-resilient fault-tolerant cooperative controller.Then,an integrated resilient fault-tolerant cooperative tracking controller is designed with actuator fault compensation.The stability of the system by using the proposed controller is proved by using the Lyapunov stability theory.Finally,the security and safety of the proposed RFTCC against both FDI attack and actuator fault with the formation tracking ability of the proposed controller are verified by simulation.