Dynamic Event-Triggered Distributed MPC for Heterogeneous UAVs–UGVs Against DoS Attacks

In this study, we address the model predictive secure control challenge for a heterogeneous system composed of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Our objective is to cooperatively manage the UAVs–UGVs system to maintain equilibrium in the face of external disturbances and denial of service (DoS) attacks. We introduce a dynamic event-triggered distributed model predictive control (DET-Distributed MPC) approach. Initially, we integrate a robustness constraint into the distributed MPC framework, which incrementally tightens the states bounds, enhancing disturbance resilience. In addition, we devise a neighbor output sequence prediction mechanism to mitigate packet loss effects due to DoS attacks on communication channels. A dynamic event-triggered mechanism with adaptive triggering thresholds, responsive to DoS attack durations, is also developed. We establish sufficient conditions for the recursive feasibility of the MPC algorithm and the stability of the overall system. Comparative tests confirm the DET-Distributed MPC scheme's robustness and security efficacy.