Dynamic Trust-Driven Resilient Finite-/Fixed-Time Formation Control for Multi-UAV Systems with Input Saturation Against Sybil Attacks

This paper investigates resilient finite-/fixed-time formation control of multi-UAV systems subject to actuator input saturation and Sybil attacks. A dynamic trust-based communication weight is proposed by integrating physical layer confidence assessment, an exponentially discounted trust accumulator, and a smooth nonlinear mapping. The mechanism adaptively updates the adjacency weights, preserves effective information exchange among legitimate UAVs, and gradually suppresses the influence of Sybil-induced links, thereby enabling a self-healing communication topology. Based on the resulting dynamic weighted topology, distributed finite-/fixed-time formation controllers are developed using smooth saturation functions to explicitly accommodate actuator constraints. The finite-time controller ensures formation tracking convergence within a finite settling time, whereas the fixed-time controller guarantees a practical settling-time bound for initial conditions belonging to a prescribed compact set, where the bound may depend on the selected set radius. Lyapunov stability analysis and homogeneity theory are employed to establish closed loop convergence and input boundedness properties. Numerical simulations demonstrate that the proposed approach effectively mitigates malicious communication influences, preserves connectivity among legitimate UAVs, and achieves resilient cooperative formation tracking.