Event-Triggered Secure Formation Tracking of Delayed Multi-UAV Systems Subject to DoS Attacks

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.