Privacy Preserving Prescribed-Time Formation Algorithm of Multi-UAV Systems with Event-Based Design

This paper proposes a novel privacy-preserving prescribed-time formation algorithm for multiple unmanned aerial vehicle (multi-UAV) systems, where a high-gain controller with event-triggered design is developed. In our framework, the initial positions of the UAV s are assumed to be private, and each uses some deterministic signal to conceal its real initial states before broadcasting them over the communication network. Consequently, the proposed algorithm is demonstrated to be efficient in guaranteeing successful formation of the UAV s in the specified time without disclosing their real initial data. The controller is shown to be bounded in spite of the high-gain, and the event-trigger helps to reduce the redundant update of the controller, exhibiting no Zeno behavior. Finally, a numerical example is given to verify the validity and effectiveness of the proposed control scheme.