Lei Liu

This paper addresses the time-varying formation tracking (TVFT) for second-order delayed multi-UAV systems (SODMUSs) subject to denial-of-service (DoS) attacks utilizing an event-triggered secure strategy. To begin with, a novel event-triggered secure strategy is designed, accompanied by a corresponding delayed piecewise differential inequality to address challenges introduced by DoS attacks and state delay. Then, a sufficient criterion is obtained to guarantee the TVFT for SODMUSs subject to asynchronous DoS attacks by proposed event-triggered secure strategy. Moreover, it is proved that the Zeno behavior does not exist in the closed-loop system. Finally, the event-triggered secure strategy is utilized to quadrotor UAV TVFT experiments where the numerical simulation and the software-in-the-loop simulation under hping3-based DoS attacks are presented to verify the validity of the theoretical results.

This paper investigates the time-varying formation-tracking (TVFT) problem for multi-UAV systems (MUSs), where the followers need to achieve a predefined time-varying formation configuration while tracking the leader’s state. In order to reduce the consumption of communication resources, an adaptive event-triggered mechanism (AETM) is designed. By combining the advantages of the adaptive technique and the event-triggered mechanism (ETM), UAVs can realize intermittent communication without relying on global information. Secondly, to improve the flexibility of formation-tracking trajectories, the TVFT consensus protocol with non-zero leader inputs is constructed. Meanwhile, the scope of the formation-tracking feasibility condition is extended. Then, the stability of the system is verified by Lyapunov stability theory, and sufficient conditions for MUSs to realize the desired TVFT configuration are obtained. In addition, the designed consensus protocol can be applied to both fixed topologies and switching topologies. Finally, the validity of the designed algorithm is confirmed by numerical examples and software-in-the-loop (SIL) simulation experiments.

In this article, the optimal leader-following consensus of nonlinear second-order delayed multiagent systems with input constraints is addressed. To begin with, a novel intermittent event-triggered (IET) control protocol is proposed, and a novel time-delay piecewise differential inequality is established to effectively integrate state delay, intermittent control, and event-triggered strategy. Then, by the proposed control protocol and inequality, two criteria for the consensus of the second-order delayed multiagent systems and its optimality under input saturation are derived successively. Furthermore, a constrained-input policy iteration algorithm and a critic-only online reinforcement learning algorithm are devised for designing IET optimal control and approximate IET optimal controller, respectively. Finally, two numerical examples are created to verify the efficacy of the basic research.