DoS攻击下多无人机群体智能系统分布式一致性跟踪控制

张猛; 王新河; 王利楠

doi:10.12263/DZXB.20251273

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DoS攻击下多无人机群体智能系统分布式一致性跟踪控制

信息丰富时代的群体智能理论与技术 | 更新时间：2026-06-16

- DoS攻击下多无人机群体智能系统分布式一致性跟踪控制
- Distributed Consensus Tracking Control of Multi-UAV Swarm Intelligence Systems under DoS Attacks
- 电子学报 2026年54卷第3期页码：901-911
- 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：
  
  张猛男，1994年出生于河南省开封市。现为东南大学网络空间安全专业博士研究生。主要研究方向为网络攻击下多无人机系统分布式安全控制和容错控制。 E-mail: 230239277@seu.edu.cn
  王新河男，1994年出生于山东省济南市。现为东南大学网络空间安全专业博士研究生。主要研究方向为多智能体系统弹性控制。 E-mail: wangxinhe_sd@seu.edu.cn
  王利楠男，1996年出生于浙江省金华市。现为北京理工大学嘉兴研究院助理研究员。主要研究方向为无人机系统非光滑控制。 E-mail: linanwang96@163.com
- 基金信息：
  
  中华人民共和国工业和信息化部项目(JCKY2024110C042)
- DOI：10.12263/DZXB.20251273
  中图分类号： TP13
- 收稿：2026-02-09，
  
  录用：2026-03-19，
  
  纸质出版：2026-03-25
- 稿件说明：
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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

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