Resilient Consensus Control of Heterogeneous Multi-UAV Systems With Leader of Unknown Input Against Byzantine Attacks

This paper addresses the consensus control problem of heterogeneous multi-UAV systems against Byzantine attacks. A drone compromised by Byzantine attacks transmits erroneous values to its neighbors while applying wrong input signals for itself, which is aggressive and challenging to defend. Inspired by the concept of digital twin technology, we introduce a new hierarchical protocol equipped with a virtual twin layer (TL), which decouples the challenges into two defense schemes: one against Byzantine edge attacks on the TL and the other against Byzantine node attacks on the cyber-physical layer (CPL). In the TL, we provide a topology reconfiguration strategy that enhances the resilience of the communication network by judiciously adding a minimal number of key edges. We rigorously demonstrate that the control strategy attains asymptotic consensus within a finite timeframe, given that the topology on the TL adheres to a strongly $(2f+1)$ -robustness criterion. Within the CPL, decentralized chattering-free controllers are proposed to ensure the resilient output consensus for the heterogeneous multi-UAV systems against Byzantine node attacks. Furthermore, the derived consensus controller exhibits an exponential convergence characteristic. The effectiveness and practicality of the obtained theoretical results are verified by a UAV swarm flight experiment. Note to Practitioners—Cooperative control of UAVs presents significant prospects for application and development, becoming a focal point of automatic control. By modeling UAV swarms as multi-agent systems, various complex distributed control methods have been conveniently proposed and implemented economically in practical systems. However, when certain agents are compromised and interfere with their neighbors, the whole network may become highly susceptible to failure. This paper specifically studies the resilient consensus control against the significant active internal threats, Byzantine attacks. The published results have primarily focused on cases where the leader UAV has no input signals. In practical applications, however, the leader often has a pre-established trajectory sent by the host and the followers are unaware of this input information. This significantly complicates the task of identifying Byzantine attackers. In this work, we introduce a new hierarchical protocol inspired by the concept of digital twin technology, which decouples the challenges into defense against Byzantine edge attacks on the TL and the defense against Byzantine node attacks on the cyber-physical layer. The experiment shows the feasibility and security of our control scheme, which provides valuable guidance for the practical applications of drones.