Resource-efficient sliding mode control for unmanned aerial vehicles with multiple faults and hybrid cyber attacks
Authors: Wang, J., Zhao, H., Gao, J., Yu, H.
Journal: Advances in Mechanical Engineering
Publication Date: 01/09/2025
Volume: 17
Issue: 9
eISSN: 1687-8140
ISSN: 1687-8132
DOI: 10.1177/16878132251376247
Abstract:This paper investigates resource-efficient sliding mode control for a quadrotor unmanned aerial vehicle (UAV) subjected to multiple faults and hybrid cyber-attacks. We derive a comprehensive dynamic model that captures actuator-bias faults, partial failures, and false data injection attacks. Based on this, we design adaptive event-triggered terminal sliding mode controllers for both position and attitude control. To counter denial-of-service (DoS) attacks, we develop a forgetting factor compensation scheme that mitigates the effects of DoS attacks occurring in both feedback and forward channels. Lyapunov analysis guarantees closed-loop stability of the proposed schemes, precludes Zeno phenomena, and improves robustness to the combined false-data-injection (FDI) attacks and DoS attacks. Several simulations demonstrate that the proposed method maintains fast and accurate trajectory tracking while significantly reducing the impact of DoS and FDI attacks.
Source: Scopus