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

This paper proposes a decentralized adaptive event-triggered fault-tolerant cooperative control (ET-FTCC) scheme for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and external disturbances under denial-of-service (DoS) attacks. The multiple UAVs and UGVs have a larger search radius, which is important in both the civilian and military domains. The different dynamics between UAVs and UGVs result in unbalanced interactions in the communication topologies, which increases the complexity of cooperative control. DoS attacks are conducted in both sensor and control channels. The dynamic models of UAVs and UGVs are introduced firstly, and the unified heterogeneous multiagent system model with actuator faults is established. The composite observer is designed to obtain the information of state and lumped disturbance, which is used to design the controller. In order to save the limited communication network resources, the event-triggered mechanism is introduced. The transformed error is presented by using the prescribed performance function (PPF). Then, the sliding-mode manifold is presented by combining the event-triggered control scheme to achieve the tracking purpose with actuator faults, external disturbances, and DoS attacks. Based on the Lyapunov function approach, the tracking errors are bounded within the prescribed boundary. Finally, the effectiveness of the proposed method is verified by qualitative analysis and quantitative analysis of the simulation results. This study can enhance the security and reliability of heterogeneous multiagent systems, providing technical support for the safe operation of unmanned systems. This paper mainly solves the FTCC problem of second-order nonlinear heterogeneous multiagent systems, and further research is needed for the FTCC problem of higher-order nonlinear heterogeneous multi-agent systems. In addition, the system may encounter multiple cyber attacks. As one of the future research works, we can extend the results of this paper to high-order nonlinear systems under multiple cyber attacks, which contain DoS attacks and deception attacks, and achieve fault-tolerant cooperative control of heterogeneous multiagent systems.