A new zonotope-based attack detection method for UAV

This paper studies the cyber attack detection of unmanned aerial vehicle (UAV) system with unknown but bounded (UBB) disturbances and noise. Considering that UAV control system will be attacked, a new detection method based on zonotope is proposed. Firstly, the system model of UAV is established by quaternion. Then, a detection approach based on zonotope is designed. Finally, the simulation results show that the method can effectively detect the attack of UAV system.