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cooperative adaptive fault-tolerant formation control of quadrotor swarm with cyber-attacks
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نویسنده
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hadizadeh sh. ,nekoukar v. ,mahdian dehkordi n.
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منبع
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كنترل - 2024 - دوره : 18 - شماره : 1 - صفحه:55 -67
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چکیده
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The unique features of multi-rotor unmanned aerial vehicles (mruavs) have led to a variety of applications. however, the carrying capacity of mruavs remains one of the most critical challenges. forming an mruav swarm can be an effective solution. in mruav swarms, followers require a formation control scheme to track one or more leaders. this formation control must address measurement noise, communication delays, model uncertainty, actuator and sensor faults, and cyber-attacks. in this paper, we propose a new cooperative adaptive fault-tolerant formation control for quadrotor swarms in the presence of deception during cyber-attacks. quadrotors are connected to neighboring drones and a central leader. we evaluate the proposed method’s ability to handle model uncertainty, actuator faults, cyber-attacks, and measurement noise through simulation studies. considering all these challenges simultaneously and evaluating the presented formation control method stand as one of the primary contributions of this paper
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کلیدواژه
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cooperative control ,fault-tolerant ,formation control ,quadrotor ,unmanned aerial vehicle
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آدرس
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shahid rajaee teacher training university, school of electrical engineering, departments of control, iran, shahid rajaee teacher training university, school of electrical engineering, departments of control, iran, shahid rajaee teacher training university, school of electrical engineering, departments of control, iran
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پست الکترونیکی
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nimamahdian@sru.ac.ir
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cooperative adaptive fault-tolerant formation control of quadrotor swarm with cyber-attacks
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Authors
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hadizadeh shirin ,nekoukar v. ,mahdian dehkordi nima
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Abstract
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the unique features of multi-rotor unmanned aerial vehicles (mruavs) have led to a variety of applications. however, the carrying capacity of mruavs remains one of the most critical challenges. forming an mruav swarm can be an effective solution. in mruav swarms, followers require a formation control scheme to track one or more leaders. this formation control must address measurement noise, communication delays, model uncertainty, actuator and sensor faults, and cyber-attacks. in this paper, we propose a new cooperative adaptive fault-tolerant formation control for quadrotor swarms in the presence of deception during cyber-attacks. quadrotors are connected to neighboring drones and a central leader. we evaluate the proposed method’s ability to handle model uncertainty, actuator faults, cyber-attacks, and measurement noise through simulation studies. considering all these challenges simultaneously and evaluating the presented formation control method stand as one of the primary contributions of this paper
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Keywords
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cooperative control ,fault-tolerant ,formation control ,quadrotor ,unmanned aerial vehicle.
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