Event-Trigger-Based Finite-Time Privacy-Preserving Formation Control for Multi-UAV System
Author:
Yue Jiangfeng12, Qin Kaiyu12, Shi Mengji12, Jiang Bing12, Li Weihao12ORCID, Shi Lei3ORCID
Affiliation:
1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China 2. Aircraft Swarm Intelligent Sensing and Cooperative Control Key Laboratory of Sichuan Province, Chengdu 611731, China 3. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Abstract
Privacy-preserving has been crucial technique of multi-UAV systems, including cooperative detection, cooperative penetration and strike. Unprocessed interactive information poses a serious privacy threat to UAV swarm collaborative tasks. Considering not only privacy-preserving but also bandwidth constraints and the convergence performance of multi-UAV systems, this paper comprehensively proposes an original event-triggered-based finite-time privacy-preserving formation control scheme to resolve these three factors. Firstly, this paper adopted a local, deterministic, time-varying output mapping function for a privacy mask, which encodes the internal states of the UAV prior to its public transmission, and the initial true value of each UAV’s states is kept indecipherable for honest-but-curious UAVs and other malicious eavesdropping attackers. Then, considering the limited communication bandwidth and channels, we employed a distributed event-triggered strategy and deduced the triggering condition for consensus-based formation control, which effectively reduces the excessive consumption of communication and computational resources in contrast to time-triggered strategy. In terms of the convergence performance of the UAVs, finite-time stability theory was introduced to make the system reach the desired formation in finite time and obtain a settling time related to the initial state. Compared with the existing literature, this paper systematically took into account the above three factors for multi-UAV systems and provides a convergence analysis and a privacy analysis in detail. Finally, the effectiveness of the finite-time privacy-preserving protocol based on an event-triggered strategy was demonstrated by numerical simulation examples and comparative experiments. The proposed method achieves the formation control under privacy-preserving, improves the convergence rate and reduces the frequency of controller updates and information transmission.
Funder
National Natural Science Foundation of Sichuan Science & Technology Department of Sichuan Province Fundamental Research Funds for the Central Universities
Subject
Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering
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