Resilient Distributed Fixed-Time Tracking of Heterogeneous UAVs-UGVs Systems Against DoS Attacks

The fixed-time cooperative control is investigated for heterogeneous multiagent systems (HMASs) containing multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) under Denial of Service (DoS) attacks and external perturbations. First, for the ease of collaborative tasks, an unified model is obtained in the
$XY$
plane by transforming the dynamical models of UAVs and UGVs. Then, a fuzzy switching observer is designed to achieve unavailable state estimation during the attack zone. In particular, in virtue of the character of DoS attacks, a novel fixed-time stability theory is set up. On this foundation, a distributed fixed-time secure tracking control strategy is raised by utilizing the adaptive approach to effectively defend against DoS attacks. Notably, distinct from the existing works on finite-time stability for HMASs, the present method exhibits some brilliant features, such as fast response, high accuracy, and attack resistance. Additionally, rational proofs have substantiated that the designed control scheme can not only ensure the boundedness of each closed-loop signal but also guarantee the synchronization error converges to a predefined small neighborhood near the origin in a fixed time. Ultimately, the validity of the proposed method is demonstrated by a representative simulation.