Based on the Stackelberg game theory, this paper studies the optimal consensus control problem of the multi-agent system (MAS) under multiple network attacks. Multiple attackers interfere with the information interaction between agents by intervening in the transmission channel of the multi-agent wireless network, thereby changing the communication topology of the MAS. Under the limited energy of the system and attackers, the energy allocation of transmission channels is used as the performance index, and the importance of the transmission channel to the MAS is used as an auxiliary indicator to establish a Stackelberg game model between the MAS and attackers under incomplete information. By solving the Stackelberg equilibrium solution of the game model, the optimal attack energy allocation scheme and the optimal energy allocation scheme of the system are obtained, respectively. Then, based on the equilibrium solution, the Hamilton-Jacobi-Bellman equation with coupling terms for the MAS under attacks is given. In view of the broad learning system theory, online algorithms that approximate the optimal performance function and the optimal controller are designed respectively, and sufficient conditions are obtained for the proposed optimal controller to ensure the stability and consistency of the MAS. Finally, the effectiveness of the method is verified by a numerical simulation.

With the development of industrialization, the security issue of remote state estimation in Cyber-Physical Systems (CPS) has attracted widespread attention in recent years. This paper studies the state estimation problem based on quantized observations and tampering attacks on partial channels of multi-sensor networks. Assuming the attacker knows the sending data and system parameters, we design an optimal attack strategy based on maximizing the state estimation error as an indicator. From the defender’s perspective, when the attack strategy is known, we construct a compensation algorithm to reduce the error caused by the attack. When the attack strategy is unknown, we design an innovative attack strategy and system state joint estimation scheme. The defense scheme limits the attack strategy estimation error within a given range, while making the estimation performance of the system state almost the same as that without attack. The state estimators in the above attack and defense scenarios have been given and their performance is analyzed. Finally, the theoretical results are simulated and verified.

This paper explores a novel single tail tilt servomotor tri-rotor ducted vertical takeoff and landing unmanned aerial vehicle system (VTOL-UAV), and proposes a compound control method combining disturbance observer, model predictive control (MPC) and sliding mode nonlinear dynamic inversion (NDI), and realizes the robust tracking control of the VTOL-UAV trajectory under compound disturbance. Specifically, the inner loop adopts nonlinear dynamic inverse which improved by sliding mode to realize the pseudo linearization of the system. The outer loop adopts the model predictive control based on the E-SSPC (State Space Predictive Controller based on the Error model) method, on this basis, the sliding mode disturbance observer based on fast Super-twisting algorithm is introduced into the position loop to observe and compensate the disturbance in real time, which improves the robustness of the outer loop system. Numerical simulation experiments verify the effectiveness and robustness of the control method. Finally, the flight test of the VTOL-UAV is carried out.

In this paper, the issue of roll channel for attitude control for small air-to-surface missiles suffering from multiple disturbances is investigated. The dynamic model of roll channel is established and the roll controller of roll channel based on the active disturbance rejection control (ADRC) is designed. Based on the extended state observer, the disturbance is observed and compensated to track the roll rate accurately. Then, simulations and verification are carried out for rudder efficiency, barycenter location deviation, steering gear stuck, wind disturbance, drift error of inertial measurement unit (IMU) and other disturbances. The control effect is also compared with proportional integral derivative (PID) control and other ADRC algorithms. The results demonstrate that the algorithm has a good ability to suppress multiple disturbances. It can meet the control performance requirements of small air-to-surface missiles.