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Journal of Applied Nonlinear Dynamics 14(3) (2025) 513--522 | DOI:10.5890/JAND.2025.09.002

Yutao Zhu$^{1}$, Peng Jin$^{1}$, Guopeng Zhou$^{1,2}$, Youneng Li$^{1}$

$^{1}$ School of Electronics and Electrical Engineering, Wuhan Textile University, Wuhan, 430200, China

$^{2}$ Department of Research and Development, Hubei Xiangcheng Institute of Intelligent Mechatronics, Xianning, 437000, China

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Abstract

This article studies the formation control problem of multiple unmanned aerial vehicles systems (UAVs) against denial-of-service (DoS) attacks. During the data transmission process, malicious attackers try to block the data transmission path through DoS attacks, which may result in the leader information being unavailable. To address this issue, the distributed formation observer is introduced. Considering that regular formation errors may become non-differentiable when systems are subject to DoS attacks, which makes it impossible to implement the backstepping control methodology, this article formulates a new tracking error based on the distributed formation observer to overcome this difficulty. Due to the existence of uncertain nonlinear functions in multiple UAVs, fuzzy logic systems (FLSs) have been employed to approximate these uncertain terms. Subsequently, the distributed observer-based fuzzy adaptive formation controller is proposed by utilizing the backstepping control methodology, making multiple UAVs resilient to DoS attacks. Finally, simulation results indicate the effectiveness of the presented fuzzy adaptive formation control scheme.

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