Formation Control of Networked Autonomous Aerial Robots Subject to False Data Injection

This study investigates the leader-following formation control problem for the networked second-order autonomous arial robot systems under directed topology. It is assumed that the leader's velocity is time varying and formation control will be achieved under the assumption. The formation controller will be designed to form the desired formation of all followers and reached the consensus of velocity. Moreover, it has assumed that agents may expose to a false data injection as a cyber-attack and this affair can affect the transferred sensor information that agents share with each other and break the formation. Finally, a Kalman filter and a chi-square anomaly detector is proposed to detect the FDI attack. The effectiveness of the proposed method has been verified with a simulation example.