Guaranteed Performance Resilient Security Consensus Control for Nonlinear Networked Control Systems Under Asynchronous DoS Cyber Attacks and Applications on Multi-UAVs Networks

This paper investigates the guaranteed performance resilient security consensus control of nonlinear networked control systems (NCSs) subject to asynchronous denial-of-service (DoS) cyber attacks, where the communication channel disruptions and recoveries occur randomly. The main works of this paper are outlined as follows: (1) a rigorous quantitative modeling of asynchronous DoS cyber attacks is formulated, leveraging connectivity analysis and the graph theory; (2) an innovative guaranteed performance function is introduced, which imposes constraints on the system’s convergence behavior while alleviating restrictions on initial tracking errors; (3) to address the challenge of estimating unmeasurable system states arising from the output-feedback scheme, a novel fuzzy state observer is devised; and (4) based on the aforementioned designs, a switching guaranteed performance resilient security consensus controller is proposed. This controller is tailored to the network connectivity characteristics of NCSs, ensuring resilient convergence of the system despite asynchronous DoS attacks. Notably, consensus tracking errors are maintained within predefined performance bounds. The experiment results of numerical simulation and hardware-in-the-loop simulation of multiple unmanned aerial vehicles (multi-UAVs) networks illustrate the effectiveness and practicality of proposed control scheme.