An Unknown-Input-Observer based approach for cyber attack detection in formation flying UAVs

Abstract

In this paper we studied a possible cyber attack detection on a network of UAVs in a formation ying set up. The communication network of the UAVs in the formation makes them vulnerable to a potential attack from malicious adversaries. We will consider two types of attacks: A node attack on the UAVs and a deception attack on the communication between the UAVs. We propose Unknown Input Observer based distributed fault detection scheme to detect a cyber attack and identify the compromised UAV in the formation setup. In the first part of the paper, UAVs formation control will be presented where the UAVs cooperate among themselves for a shared task using inter vehicle communication. A consensus algorithm is used to reach a pre-spesified formation. In the second part, a node and a communication path deception cyber attacks on the UAV's network are considered with their respective models in the formation setup. For these cyber attacks detection, a bank of Unknown Input Observer (UIO) are used and presented with the sufficient conditions for existence of the proposed observer in the UAV formation setup. A residual generated using the bank of UIOs are used to detect and to identify the compromised UAV in the formation setup.