Cybersecurity integrated Distributed Secure Event-triggered Consensus of Multi-UAV systems

Distributed secure event-triggered consensus control of multi-UAV systems is considered under the cover of cybersecurity. First. to protect the triggering transmission under DoS attack, a distributed secure event-triggered mechanism is presented where both a triggered instant and a predictive triggering interval are generated simultaneously. The triggered packet is covered by cybersecurity during the predictive triggering interval. Second, a consensus error dynamic model is established. A new Lyapunov function is constructed on the basis of Taylor term. A sufficient criterion on H<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> performance of multi-UAV systems is derived and LMIs method to solve distributed event-triggered gains is presented. Finally, a simulation example is carried out to proof the validness of our study.