Abstract
In this study, a robust <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> networked security observer-based reference tracking control scheme is proposed for the stochastic quadrotor unmanned aerial vehicle (UAV) system under malicious attacks on the actuator and sensor of network control system (NCS). To reduce the computational burden on UAV system, the UAV system is connected with a remote computing unit and the complicated tracking control command can be calculated by remote computing unit. By using the novel discrete smoothed model, the model of attack signals on actuator and sensor can be embedded in system state of UAV and thus the attack signals as well as the quadrotor system state can be simultaneously estimated through a conventional Luenberger observer. Further, the corruption of attack signals on state estimation of UAV is also avoided. To eliminate the effect of unavailable external disturbance and intrinsic fluctuation during the reference tracking control process, a robust <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> networked security observer-based reference tracking control scheme is introduced to attenuate their effects on the NCS of quadrotor UAV. By using the characteristic of convex Lyapunov function, the design condition of robust <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> networked security observer-based tracking control is derived in terms of the nonlinear functional inequalities. Since the nonlinear functional inequalities are not easy to be solved analytically or numerically, the Takagi-Sugeno (T-S) fuzzy interpolation technique is employed to interpolate the nonlinear stochastic quadrotor NCS by a set of linear local systems via fuzzy bases. In this case, the nonlinear functional inequalities can be converted to a set of linear matrix inequalities (LMIs) which can be easily solved by the MATLAB LMI TOOLBOX. Simulation results are provided to validate the effectiveness of the proposed method in comparison with conventional robust observer-based T-S fuzzy tracking control scheme.
Highlights
In recent years, the unmanned aerial vehicle (UAV) has attracted more attention from researchers due to its wide utilization and convenience of use
In this study, a robust H∞ networked security observer-based reference tracking control scheme is proposed for quadrotor UAV network control system (NCS) under cyber-attack
By the robust H∞ networked observer-based security reference tracking control scheme, the proposed security controller and observer could minimize the effect of external disturbances and measurement noise to achieve the robust tracking performance and observation performance of quadrotor UAV NCS
Summary
The unmanned aerial vehicle (UAV) has attracted more attention from researchers due to its wide utilization and convenience of use. Motivated by the above discussions, the authors address on the estimation of malicious attack signals and the consequent attack–tolerant tracking control for the stochastic network-based quadrotor UAV system under cyber-attack and external disturbances. The robust H∞ networked security observerbased reference tracking control scheme is proposed to guarantee that the networked control quadrotor UAV can gradually approach to the desired attitude and reference path under the influence of malicious attacks, external disturbances and intrinsic random perturbations. Eig{A} denotes the set of eigenvalues of A; col[D] denotes the column space of D
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