Event-Triggered Data-Driven Security Formation Control for Quadrotors Under Denial-of-Service Attacks and Communication Faults

In this article, the security formation control problem is investigated for underactuated quadrotors involving nonlinear coupled dynamics, subject to denial-of-service (DoS) attacks and uncertain communication faults. A security formation control method is proposed, including a distributed resilient observer and a hierarchical data-driven controller. The observer with an adaptive event-triggered mechanism is developed to restrain the influence of DoS and communication faults on interaction information among quadrotors, and Zeno behavior of all observers can be avoided. The optimal control laws are learned iteratively based on observation data and system data by utilizing reinforcement learning without knowledge of system dynamics. The stability of the constructed closed-loop control system is proven, and sufficient conditions are established for the unreliable network. Simulation results demonstrate the advantages of the proposed security control method.