Resilient Consensus Control for Multiple UAVs With Input Saturation Under DoS Attacks

In this article, a resilient consensus control method is proposed for nonlinear multiple unmanned aerial vehicles (UAVs) with input saturation and Denial of Service (DoS) attacks. First, an input saturation constraint based on the UAV dynamic model is investigated in this article, and an adaptive compensating term is developed to handle the input saturation. The DoS attacks considered in this article can interrupt all the communication transmissions of the attacked UAV from neighbors so that the victim is not able to receive any information from neighboring UAVs during DoS attacks. To deal with such a difficult problem, a fixed-time security constraint estimator (FTSCE) is proposed to ensure the stability and security of UAVs during the DoS attacks. Moreover, the unknown state is estimated to reduce the amount of the transferred information. Based on the proposed FTSCE, the relative position and velocity of UAV states are used to design the resilient consensus controller against the DoS attacks. By using the proposed controller, the system stability can be guaranteed according to the Lyapunov stability analysis. Finally, the numerical simulation is conducted to verify the effectiveness of the proposed resilient consensus control method.