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This study addresses the issue of formation switching in a multi-UAV system under DoS attack. By taking into account the impact of DoS attacks, a switching control law is developed, which is influenced by the cost of formation control as well as the number of follower UAVs. The proposed switching law determines the precise switching instant when follower UAVs transition their formations and topologies. As a result, the multi-UAV system is capable of achieving the desired consensus formation even in the face of DoS attacks. Constraints of the switching signal are investigated, and the stability is analyzed by multiple Lyapunov functions accordingly. Through simulations, the merits of both the designed control protocol and switching law are verified.

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Cost-Based Switching Formation Control for Multi-UAV Systems Under DoS Attacks

  • 会议论文

  • 发表日期：

    2025年

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  • Shuqing Wu,
  • Shuang Shi,
  • Zhen Wang

摘要

This study addresses the issue of formation switching in a multi-UAV system under DoS attack. By taking into account the impact of DoS attacks, a switching control law is developed, which is influenced by the cost of formation control as well as the number of follower UAVs. The proposed switching law determines the precise switching instant when follower UAVs transition their formations and topologies. As a result, the multi-UAV system is capable of achieving the desired consensus formation even in the face of DoS attacks. Constraints of the switching signal are investigated, and the stability is analyzed by multiple Lyapunov functions accordingly. Through simulations, the merits of both the designed control protocol and switching law are verified.