Resilient Event-Triggered Formation Control and Secure Estimation of Multi-UAV Systems

This article studies the event-triggered formation control of multiple unmanned aerial vehicles (UAVs) in the presence of deception attacks. Unlike existing research focusing on deception attacks, the secure upper bound of deception attacks that the formation tracking of UAVs can tolerate is estimated to reduce the conservatism associated with the predefined upper bound of deception attacks. A dynamic event-triggered mechanism is developed by considering triggering and tracking errors to reduce data release rates while maintaining desired formation tracking performance. Leveraging information from neighboring UAVs, tracking control strategies for the multi-UAV system facing deception attacks are designed using the Lyapunov stability theory. Simulation analysis validates the effectiveness of the proposed strategies, demonstrating improved resilience in the presence of deception attacks.