Abstract
This paper addresses the problem of time-varying formation control for heterogeneous unmanned swarm systems (USSs) consisting of multiple unmanned aerial vehicles (UASs) and unmanned surface vehicles (USVs) based on a directional switching topology. Firstly, a novel USSs model is established, involving the effect of multiple network attacks, network bandwidth constraints and input saturation. In particular, a scaling attack model is proposed to account for denial-of-service (DoS) and deception attacks. Secondly, a distributed controller based on a dynamic event triggering mechanism is designed to reduce the communication load by adjusting the communication frequency between individuals, and the Zeno phenomenon is effectively avoided. Finally, the Lyapunov function is used to obtain sufficient conditions for system stability and bounds on the frequency and duration of network attacks. The experiments and comparison results verify the proposed strategy's effectiveness and superiority.
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