Formation Control for Multiple Quadrotors Under DoS Attacks via Singular Perturbation

Abstract

This paper looks into the topic of distributed formation control for a group of quadrotors that are vulnerable to denial-of-service (DoS) attacks. By preventing information interaction between adjacent quadrotors, the DoS attacks, which happen independently on individual communication channels, disrupt the formation mission. A decomposition-combination control framework is devised for the formation task. The corresponding high-order dynamic system is partitioned into slow and fast subsystems using the singular perturbation technique, which lessens the computing load and resolves the under-driven issue. A composition formation control scheme is then put forward, which includes a resilient slow-scale controller to tackle DoS attacks along with an optimal fast-scale controller to assure flying performance and stability. It should be noted that position and velocity information, which can be acquired and processed entirely by sub-controller in the proposed method, is the main content of communication between quadrotors, permitting more effective system execution. Finally, a slow-fast composition mechanism is provided, and simulation results of a system containing four quadrotors serve as validation for the suggested methods.