Resilient Control Under DoS Attacks of Hybrid Air-Sea Swarms With Cooperative-Competitive Interactions

In this study, a hybrid air-sea swarm control methodology is introduced to achieve resilience against denial-of-service (DoS) attacks, where such attacks intermittently block communication links to disrupt coordination. We start by establishing a swarm system comprising uncrewed aerial vehicles (UAVs) and uncrewed surface vehicles (USVs) with distinct dynamic properties and degrees of connectivity. Unlike existing studies with homogeneous communication links, we consider heterogeneous (hybrid) UAV-to-UAV, USV-to-USV, and UAV-to-USV communication links. A cooperative-competitive interaction strategy is studied, where the swarm is divided into two clusters based on vehicle type. To face cyber vulnerabilities, an event-triggering security-oriented control law is designed, which is proven to counteract attacks while balancing communication and control resource usage. Furthermore, the relation between communication weights and system resilience to DoS attacks is analyzed. Numerical simulations demonstrate the efficacy and resilience of the proposed approach.