A network of unmanned aerial vehicles (UAVs) provides distributed coverage, reconfigurability, and maneuverability in performing complex cooperative tasks. However, it relies on wireless communications that can be susceptible to cyber adversaries and intrusions, disrupting the entire network's operation. This paper develops model-based centralized and decentralized observer techniques for detecting a class of stealthy intrusions, namely zero-dynamics and covert attacks, on networked UAVs in formation control settings. The centralized observer that runs in a control center leverages switching in the UAVs' communication topology for attack detection, and the decentralized observers, implemented onboard each UAV in the network, use the model of networked UAVs and locally available measurements. Experimental results are provided to show the effectiveness of the proposed detection schemes in different case studies.
翻译:无人驾驶飞行器网络(无人驾驶飞行器网络)提供分散的覆盖范围、可调整性和机动性,以完成复杂的合作任务,但依靠无线通信,这种通信容易受到网络对手和入侵,干扰整个网络的运作,本文件开发了基于模型的中央和分散的观察技术,以探测形成控制环境中网络化无人驾驶飞行器的隐形入侵,即零动力和隐蔽攻击;在控制中心运行的中央观察员将无人驾驶飞行器的通信地形转换为攻击探测,分散观察员在网络中的每个无人驾驶飞行器上,使用网络化无人驾驶飞行器模型和当地现有的测量,实验结果显示不同案例研究中拟议探测计划的有效性。