Cooperative Control of Air–Ground Swarms Under DoS Attacks via Cloud–Fog Computing

Based on cloud-fog computing, a cooperative control method is proposed for an air-ground heterogeneous swarm and the event-triggered strategy is introduced to eliminate the adverse effects of cyber attack. First, an air-ground nonlinear swarm system with aggregation-dispersion properties is built. Simultaneously, for better coordination and scalability of the heterogeneous swarm, a could-fog computing architecture dividing the swarm into two control layers is presented. As the swarm scales up, its susceptibility to random cyber-attacks increases, particularly to Denial of Service (DoS) attacks. Thus, the fog-cloud cooperative control method is proposed to ensure the secure consistency of the swarm under DoS attacks. In this way, a distributed average consensus control law at the fog layer is designed, while a leader-following-based asymptotic consensus control algorithm at the cloud layer is presented. Finally, numerical simulations are performed to verify the correctness and effectiveness of the proposed method, which has the strong robustness and scalability of the large-scale swarm system.