Leader-Following Multirotor UAV Swarm Expulsion Method Based on Sensor Attacks

Studying countermeasures for leader-following multirotor UAV swarms from an attacker’s perspective. Proposing a sensor attack method against the leader UAV based on the root node attributes, and using swarm distributed network interaction characteristics of the swarm to expulse it to the path desired by the attacker. Firstly, the sensor attack model is constructed by using the dynamic characteristics of the UAV, and the attack signal is induced into the swarm formation tracking control process. Secondly, considering the swarm communication topology switching, a state space decomposition method is used to decompose the attack signal into a formation tracking reference subsystem and a formation tracking error subsystem. Sufficient conditions for realizing swarm repellent countermeasures under sensor attacks are given, and the analytical criterion is simplified by a two-step non-singular transformation. Finally, the effectiveness of the proposed countermeasures is verified by numerical simulation.