Distributed Consensus Tracking Control of Multi-UAV Swarm Intelligence Systems under DoS Attacks

ZHANG Meng; WANG Xinhe; WANG Linan

doi:10.12263/DZXB.20251273

您当前的位置：

首页 >

文章列表页 >

Distributed Consensus Tracking Control of Multi-UAV Swarm Intelligence Systems under DoS Attacks

The Theory and Application of Swarm Intelligence Technology in the Information\-Rich Era | 更新时间：2026-06-16

- Distributed Consensus Tracking Control of Multi-UAV Swarm Intelligence Systems under DoS Attacks
- ACTA ELECTRONICA SINICA Vol. 54, Issue 3, Pages: 901-911(2026)
- 作者机构：
  
  1.东南大学网络空间安全学院，江苏南京 211189
  2.北京理工大学长三角研究院（嘉兴），浙江嘉兴 314003
- 作者简介：
- 基金信息：
  
  Ministry of Industry and Information Technology of China(JCKY2024110C042)
- DOI：10.12263/DZXB.20251273
  CLC： TP13
- Received：09 February 2026，
  
  Accepted：19 March 2026，
  
  Published：25 March 2026
- 稿件说明：
移动端阅览
张猛, 王新河, 王利楠. DoS攻击下多无人机群体智能系统分布式一致性跟踪控制[J]. 电子学报, 2026, 54(03): 901-911.

ZHANG Meng, WANG Xinhe, WANG Linan. Distributed Consensus Tracking Control of Multi-UAV Swarm Intelligence Systems under DoS Attacks[J]. Acta Electronica Sinica, 2026, 54(03): 901-911.
张猛, 王新河, 王利楠. DoS攻击下多无人机群体智能系统分布式一致性跟踪控制[J]. 电子学报, 2026, 54(03): 901-911. DOI：10.12263/DZXB.20251273

ZHANG Meng, WANG Xinhe, WANG Linan. Distributed Consensus Tracking Control of Multi-UAV Swarm Intelligence Systems under DoS Attacks[J]. Acta Electronica Sinica, 2026, 54(03): 901-911. DOI：10.12263/DZXB.20251273

摘要

群体智能作为人工智能的重要前沿研究方向，在复杂环境感知、分布式决策、协同执行以及无人系统集群控制等领域具有广阔应用前景。多无人机系统作为群体智能的重要物理载体，因其高机动性、部署灵活性和协同能力强等特点，在灾害救援、区域巡检、目标搜索、环境监测和应急通信等场景中展现出重要应用价值。然而，现有多无人机一致性控制研究大多基于理想通信假设，通常默认通信链路持续可用、信息传输精确且网络攻击可忽略，因而难以适应复杂、开放、动态的实际网络环境。尤其在开放网络条件下，通信网络往往同时受到有限带宽和拒绝服务（Denial-of-Service， DoS）攻击的双重影响，有限带宽限制了无人机间状态信息的连续高精度传输，DoS攻击则会导致通信链路间歇性中断，使控制输入更新受阻、跟踪误差增大，甚至影响系统稳定性。因此，研究带宽受限与DoS攻击共同作用下多无人机系统的分布式一致性跟踪控制问题具有重要理论意义和工程价值。针对上述问题，本文研究了DoS攻击和通信带宽受限双重约束下多无人机系统的一致性跟踪控制问题，提出了一种基于有限量化通信的分布式控制协议。针对周期采样通信机制，构建了包含自适应缩放因子的动态量化函数，使量化器工作范围能够根据系统状态变化在线调节，从而在降低通信负载的同时提高量化机制对状态演化的适应能力，避免固定量化范围下可能出现的量化精度不足和量化饱和问题。为减弱DoS攻击导致通信中断对系统协同性能的不利影响，进一步引入状态估计机制，在通信受阻期间利用系统模型和本地信息对邻居状态进行预测与补偿，使各无人机仍可维持控制输入更新，从而提高系统在攻击环境下的连续运行能力和抗干扰能力。基于Lyapunov稳定性理论，本文对闭环系统的稳定性和一致性跟踪性能进行了严格分析，建立了DoS攻击持续时间、攻击频率、采样周期、控制增益矩阵与量化参数之间的内在关系。研究结果表明，当DoS攻击持续时间和攻击频率满足给定上界约束时，通过合理设计控制增益矩阵、采样周期及量化器参数，可保证多无人机系统在有限量化通信条件下实现对领导者的渐近一致性跟踪，并保证动态量化器在整个控制过程中始终处于非饱和状态。数值仿真结果进一步表明，所提出的分布式量化控制协议在DoS攻击和通信带宽受限共同作用下仍能保持良好的跟踪精度、通信效率和抗攻击鲁棒性，验证了所提方法的有效性与优越性。

Abstract

Swarm intelligence has emerged as an important frontier in artificial intelligence

with broad potential in complex-environment perception

distributed decision-making

cooperative task execution

and coordinated control of unmanned systems. As a representative physical platform for swarm intelligence

multi-unmanned aerial vehicle (UAV) systems have attracted considerable attention in disaster response

area surveillance

target search

environmental monitoring

and emergency communications due to their high maneuverability

flexible deployment

and strong cooperative capability. However

most existing studies on consensus control of multi-UAV systems rely on ideal communication assumptions

typically assuming continuously available links

accurate information exchange

and negligible cyberattacks. As a result

these methods are difficult to deploy in practical networked environments that are open

dynamic

and vulnerable to communication impairments. In particular

in open-network environments

communication channels are often simultaneously affected by bandwidth limitations and denial-of-service (DoS) attacks. Bandwidth limitations preclude continuous high-precision exchange of state information among UAVs

whereas DoS attacks cause intermittent communication outages

thereby preventing timely control updates

increasing tracking errors

and potentially destabilizing the closed-loop system. Therefore

the study of distributed consensus tracking control for multi-UAV systems under the joint effects of bandwidth constraints and DoS attacks is of clear theoretical and practical significance. To address these challenges

this paper investigates the consensus tracking problem for multi-UAV systems under the dual constraints of DoS attacks and limited communication bandwidth

and develops a distributed control protocol based on finite-level quantized communication. Under a periodic sampling scheme

a dynamic quantizer with an adaptive scaling factor is introduced so that the quantization range can be adjusted online according to the system state. This design reduces the communication burden while improving the quantizer’s ability to accommodate state evolution

thereby avoiding the loss of quantization accuracy and quantizer saturation associated with fixed-range quantization. To mitigate the degradation in coordination performance caused by DoS-induced communication outages

a state estimation mechanism is further incorporated. During communication interruptions

each UAV predicts and compensates for the states of its neighbors using the system model and locally available information

so that control updates can still be executed. As a result

the proposed scheme improves the continuity of system operation and enhances resilience against disturbances and malicious attacks. Using Lyapunov stability theory

this paper provides a rigorous analysis of the stability and consensus tracking performance of the closed-loop system

and establishes explicit relationships among the DoS attack duration

attack frequency

sampling period

control gain matrix

and quantization parameters. The analysis shows that

if the attack duration and attack frequency satisfy prescribed upper bounds

then asymptotic consensus tracking of the leader can be achieved under finite-level quantized communication by properly selecting the control gain matrix

sampling period

and quantizer parameters

while maintaining the dynamic quantizer in an unsaturated regime throughout the process. Numerical simulations further show that the proposed distributed quantized control protocol preserves satisfactory tracking accuracy

communication efficiency

and robustness under the combined effects of DoS attacks and bandwidth constraints

thus confirming the effectiveness and advantages of the proposed method.

关键词

Keywords

references

江碧涛 , 温广辉 , 周佳玲 , 等 . 智能无人集群系统跨域协同技术研究现状与展望 [J ] . 中国工程科学 , 2024 , 26 ( 1 ): 117 - 126 . DOI: 10.15302/j-sscae-2024.01.015 http://dx.doi.org/10.15302/j-sscae-2024.01.015

Jiang Bitao , Wen Guanghui , Zhou Jialing , et al . Cross-domain cooperative technology of intelligent unmanned swarm systems: Current status and prospects [J ] . Strategic Study of CAE , 2024 , 26 ( 1 ): 117 - 126 . (in Chinese) . DOI: 10.15302/j-sscae-2024.01.015 http://dx.doi.org/10.15302/j-sscae-2024.01.015

任双 , 周洁 , 高嵩 , 等 . 基于注意力机制的无人机集群协同分群控制算法 [J ] . 电子学报 , 2023 , 51 ( 7 ): 1898 - 1905 .

Ren Shuang , Zhou Jie , Gao Song , et al . Cooperative fission control algorithm of UAV swarm based on attention mechanism [J ] . Acta Electronica Sinica , 2023 , 51 ( 7 ): 1898 - 1905 . (in Chinese)

李壮举 , 杜朋达 , 王宁 . 基于改进LESO的四旋翼无人机模糊线性自抗扰控制方法 [J ] . 电子学报 , 2024 , 52 ( 9 ): 3185 - 3194 .

Li Zhuangju , Du Pengda , Wang Ning . Fuzzy linear active disturbance rejection control of a quadrotor UAV via an improved LESO [J ] . Acta Electronica Sinica , 2024 , 52 ( 9 ): 3185 - 3194 . (in Chinese)

赵丹 , 温广辉 . 面向合谋攻击的多智能体系统弹性一致性控制 [J ] . 指挥与控制学报 , 2023 , 9 ( 6 ): 734 - 741 .

Zhao Dan , Wen Guanghui . Resilient consensus control for multi-agent systems against collusive attacks [J ] . Journal of Command and Control , 2023 , 9 ( 6 ): 734 - 741 . (in Chinese)

吴忠强 , 程洪强 . 网络攻击下考虑状态受限的微电网安全运行与控制 [J ] . 电子学报 , 2024 , 52 ( 9 ): 3240 - 3250 . DOI: 10.12263/DZXB.20221092 http://dx.doi.org/10.12263/DZXB.20221092

Wu Zhongqiang , Cheng Hongqiang . Safe operation and control of microgrid considering state constraints under network attacks [J ] . Acta Electronica Sinica , 2024 , 52 ( 9 ): 3240 - 3250 . (in Chinese) . DOI: 10.12263/DZXB.20221092 http://dx.doi.org/10.12263/DZXB.20221092

Ma Ji , Chen Xiangyong , Wen Guanghui , et al . Dynamic memory event-triggered lag consensus of multi-UAV systems with hybrid attacks over stochastic switching topology [J ] . IEEE Transactions on Automation Science and Engineering , 2025 , 22 : 16999 - 17009 . DOI: 10.1109/tase.2025.3580147 http://dx.doi.org/10.1109/tase.2025.3580147

Wen Guanghui , Wang Peijun , Lyu Yuezu , et al . Secure consensus of multi-agent systems under denial-of-service attacks [J ] . Asian Journal of Control , 2023 , 25 ( 2 ): 695 - 709 . DOI: 10.1002/asjc.2953 http://dx.doi.org/10.1002/asjc.2953

Lu Anyang , Yang Guanghong . Input-to-state stabilizing control for cyber-physical systems with multiple transmission channels under denial of service [J ] . IEEE Transactions on Automatic Control , 2018 , 63 ( 6 ): 1813 - 1820 . DOI: 10.1109/tac.2017.2751999 http://dx.doi.org/10.1109/tac.2017.2751999

Cetinkaya A , Kikuchi K , Hayakawa T , et al . Randomized transmission protocols for protection against jamming attacks in multi-agent consensus [J ] . Automatica , 2020 , 117 : 108960 . DOI: 10.1016/j.automatica.2020.108960 http://dx.doi.org/10.1016/j.automatica.2020.108960

Deng Chao , Zhang Dan , Feng Gang . Resilient practical cooperative output regulation for MASs with unknown switching exosystem dynamics under DoS attacks [J ] . Automatica , 2022 , 139 : 110172 . DOI: 10.1016/j.automatica.2022.110172 http://dx.doi.org/10.1016/j.automatica.2022.110172

Fu Minyue , Xie Lihua . The sector bound approach to quantized feedback control [J ] . IEEE Transactions on Automatic Control , 2005 , 50 ( 11 ): 1698 - 1711 . DOI: 10.1109/tac.2005.858689 http://dx.doi.org/10.1109/tac.2005.858689

Kashyap A , Başar T , Srikant R . Quantized consensus [J ] . Automatica , 2007 , 43 ( 7 ): 1192 - 1203 . DOI: 10.1016/j.automatica.2007.01.002 http://dx.doi.org/10.1016/j.automatica.2007.01.002

Feng Shuai , Ishii H . Dynamic quantized consensus of general linear multiagent systems under denial-of-service attacks [J ] . IEEE Transactions on Control of Network Systems , 2022 , 9 ( 2 ): 562 - 574 . DOI: 10.1109/tcns.2022.3140684 http://dx.doi.org/10.1109/tcns.2022.3140684

Feng Shuai , Ran Maopeng , Ishii H , et al . Dynamic quantized consensus under DoS attacks: Towards a tight zooming-out factor [J ] . IEEE Transactions on Control of Network Systems , 2024 , 11 ( 1 ): 340 - 352 . DOI: 10.1109/tcns.2023.3281555 http://dx.doi.org/10.1109/tcns.2023.3281555

Ran Maopeng , Feng Shuai , Li Juncheng , et al . Quantized consensus under data-rate constraints and DoS attacks: A zooming-in and holding approach [J ] . IEEE Transactions on Automatic Control , 2023 , 68 ( 9 ): 5397 - 5412 . DOI: 10.1109/tac.2022.3223277 http://dx.doi.org/10.1109/tac.2022.3223277

李俊辉 , 王伟 , 王雨辰 , 等 . 基于预设时间一致性理论的无人机编队控制 [J ] . 兵工学报 , 2025 , 46 ( 8 ): 20 - 33 .

Li Junhui , Wang Wei , Wang Yuchen , et al . Unmanned aerial vehicle formation control based on prescribed-time consensus theory [J ] . Acta Armamentarii , 2025 , 46 ( 8 ): 20 - 33 . (in Chinese)

Wang Xinhe , Wen Guanghui , Zhao Dan , et al . Robust quantized consensus of multiagent systems under disturbance and DoS attacks [J ] . IEEE Transactions on Control of Network Systems , 2025 , 12 ( 2 ): 1626 - 1637 . DOI: 10.1109/tcns.2025.3526716 http://dx.doi.org/10.1109/tcns.2025.3526716

De Persis C , Tesi P . Input-to-state stabilizing control under denial-of-service [J ] . IEEE Transactions on Automatic Control , 2015 , 60 ( 11 ): 2930 - 2944 . DOI: 10.1109/tac.2015.2416924 http://dx.doi.org/10.1109/tac.2015.2416924

Feng Shuai , Cetinkaya A , Ishii H , et al . Networked control under DoS attacks: Tradeoffs between resilience and data rate [J ] . IEEE Transactions on Automatic Control , 2021 , 66 ( 1 ): 460 - 467 . DOI: 10.1109/tac.2020.2981083 http://dx.doi.org/10.1109/tac.2020.2981083

刘泽群 , 周军 , 郭宗易 , 等 . 基于领机状态估计的多无人机耦合协同编队控制 [J ] . 北京理工大学学报 , 2023 , 43 ( 6 ): 623 - 632 .

Liu Zequn , Zhou Jun , Guo Zongyi , et al . Coupled cooperative formation control of multi-UAVs based on leader-state estimation [J ] . Transactions of Beijing Institute of Technology , 2023 , 43 ( 6 ): 623 - 632 . (in Chinese)

Xu Tao , Duan Zhisheng , Sun Zhiyong , et al . A unified control method for consensus with various quantizers [J ] . Automatica , 2022 , 136 : 110090 . DOI: 10.1016/j.automatica.2021.110090 http://dx.doi.org/10.1016/j.automatica.2021.110090

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Noise-Reducing Loop in Multi-bit ∑-Δ Modulator

In-Chip Fault Localization and Self-Repairing Method for Reconfigurable Hardware

MSGPose: Monocular Single-Person 3D Human Pose Estimation Via Multi-Semantic Graph Convolution and Graph-Guided State Space Models

Magnetic Field-Controlled Leaky-Wave Antennas Based on One-Way Surface Magnetoplasmons

A Blind Decryption Model for Thumbnail-Preserving Encryption: Image Reconstruction without a Key via an Improved Generative Adversarial Network

Related Author

WANG Zheng-hong

LING Xie-ting

HAO Guo-feng

WANG You-ren

ZHANG Zhai

YUAN Peng

KONG De-ming

Related Institution

复旦大学专用集成电路与系统国家重点实验室

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics

⁰