Dynamic Memory Event-Triggered Lag Consensus of Multi-UAV Systems With Hybrid Attacks Over Stochastic Switching Topology

The lag consensus problem of multi-unmanned aerial vehicle (UAV) systems under hybrid attacks is investigated in this paper. First, a dynamic memory event-triggered control protocol is proposed for the multi-UAV system whose normal network communication would be hindered by denial-of-service (DoS) attacks. Different from traditional event-triggered mechanisms, we consider both historically transmitted data and dynamic threshold in the dynamic memory event-triggered protocol, and it will make less data transmissions and better control performance. Second, due to the communication structure is not fixed, we establish a switching-topology-based distributed control architecture. In view of the fact that communication delays among agents cannot be ignored, a distributed controller is proposed to achieves lag consensus of the multi-UAV system. And then, an estimator is designed to address the situation which the system state cannot be measured during the control process. Additionally, the practicality of the distributed control scheme is analyzed by ruling out Zeno behavior. Ultimately, the effectiveness and validity of the proposed control scheme are confirmed through a simulation example.