The invention discloses a security
immunity control method for a heterogeneous unmanned cluster
system under distributed denial of
attack. According to the method, an event triggering mechanism is adopted, so that continuous information interaction between followers is avoided, discrete communication is realized, a sesame phenomenon is effectively eliminated, and the limitation of limited
communication bandwidth under an actual condition is eliminated; in addition, the design requirement for a distributed observer in a traditional method is eliminated, and extra
information transmission caused by state variables of the observer is avoided. A controller is designed based on a matching thought to get rid of a
system model
prior information constraint, and state tracking can be realized under the conditions that the
system model is uncertain and different communication links suffer from independent attacks; meanwhile, the equivalent attenuation rate of the
communication channel is introduced, the attenuation condition is analyzed under the condition that each
communication link is subjected to independent attacks, and the uncertainty of a
system model and the diversity of network attacks in the actual situation are effectively dealt with.