| 引用本文: | 章招铭,伍益明,郑宁,朱晨睿,孟伟.考虑网络容侵机制的无人机集群协同编队组网策略[J].控制理论与应用,2025,42(3):499~510.[点击复制] |
| ZHANG Zhao-ming,WU Yi-ming,ZHENG Ning,ZHU Chen-rui,MENG Wei.Collaborative formation networking strategy for UAVS considering network attack tolerance mechanism[J].Control Theory and Technology,2025,42(3):499~510.[点击复制] |
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| 考虑网络容侵机制的无人机集群协同编队组网策略 |
| Collaborative formation networking strategy for UAVS considering network attack tolerance mechanism |
| 摘要点击 44 全文点击 7 投稿时间：2023-04-07 修订日期：2024-12-23 |
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| DOI编号 10.7641/CTA.2023.30192 |
| 2025,42(3):499-510 |
| 中文关键词 无人机集群 网络攻击 编队控制 通信拓扑构建 |
| 英文关键词 unmanned aerial vehicle swarm network attack formation control communication topology construction |
| 基金项目 国家自然科学基金项目(U1911401, 62073109), 浙江省公益技术应用研究项目(LGF21F020011)资助. |
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| 中文摘要 |
| 无人机集群控制中,保持稳定可靠的通信网络对于系统协同执行任务具有重要影响.为应对通信环境中可能出现的欺骗攻击、拜占庭攻击等网络入侵情形,本文研究无人机集群协同构造具备容侵能力的系统通信拓扑问题.首先,在考虑无人机节点同构且通信半径一致有界的前提下,将通信拓扑构建问题转化为无人机集群编队队形控制设计问题;随后,基于虚拟结构策略,提出一种新颖的分布式晶格结构编队控制方法,并构建一类与位置距离相关的势场函数,以满足无人机节点向根节点聚集和碰撞避免等任务需求,通过理论分析和数学推导证明所提算法的收敛性;此外,基于所提方法进一步发展,提出一种维持网络容侵能力不变的集群向指定区域扩展的编队方法;最后,通过2组典型多无人机编队仿真实验,验证所提方法构建成的网络,可使集群在执行协同控制任务时容忍特定数量的网络攻击. |
| 英文摘要 |
| Maintaining a stable and reliable communication network in unmanned aerial vehicle swarm (UAVS) control has a significant impact on the collaborative execution of tasks by the system. In order to cope with potential network attacks such as deception attacks and Byzantine attacks in communication environments, this paper investigates the problem of cooperative construction of communication topology with tolerance for network intrusion for UAVS. Firstly, considering the isomorphism of UAVS nodes and the uniform and bounded communication radius, the communication topology construction problem is transformed into the design problem of UAVS formation control. Subsequently, based on the virtual structure strategy, a novel distributed lattice structure formation control method is proposed. Each UAVS node follows the movement strategy of the corresponding position in the lattice structure, and a potential field functions related to position distance is constructed to meet the task requirements of UAVS nodes approaching the root node and collision avoidance. The convergence of the proposed algorithm is demonstrated through theoretical analysis and mathematical derivation. Furthermore, a novel formation algorithm is proposed to maintain the robustness of the network and expand the UAVS to a designated area. Finally, two simulation experiments are performed to validate the effectiveness of the proposed formation control strategies. |
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