Anti-interference attack detection and self-healing controller and control method for unmanned aerial vehicle attitude control system

Abstract

The invention relates to an anti-interference attack detection and self-healing controller and control method for an unmanned aerial vehicle attitude control system and aims to ensure the self-healingcapability of the unmanned aerial vehicle attitude control system under malicious attack and improve the reliability of the unmanned aerial vehicle attitude control system through simultaneous rapidestimation and online compensation of attack and interference signals. The anti-interference attack detection and self-healing controller and control method for the unmanned aerial vehicle attitude control system are used for unmanned aerial vehicle attitude control systems influenced by attack and interference at the same time. According to the anti-interference attack detection and self-healingcontroller and control method for the unmanned aerial vehicle attitude control system of the invention, a multi-source interference model of an unmanned aerial vehicle attitude control system is established; an inner loop variable structure interference observer is designed to realize the rapid estimation of interference; a composite anti-interference attitude control law is designed to stabilizethe anti-interference attitude of the unmanned aerial vehicle; and an outer loop attack detection and self-healing control unit with an interference compensation effect is designed to ensure that theunmanned aerial vehicle system discovers attack behaviors in time and starts a repair program. With the controller and control method of the invention adopted, the accuracy and real-time performance of attack detection under the influence of interference can be improved, and the anti-interference self-healing control problem of an unmanned aerial vehicle in the tasks of strategic reconnaissance, earthquake relief work, environmental monitoring and the like can be solved.

Description

technical field [0001] The invention relates to an anti-jamming attack detection and self-healing controller and control method of an unmanned aerial vehicle attitude control system. Aiming at a kind of unmanned aerial vehicle attitude control system affected by attack and interference signals at the same time, by designing fast interference compensation and composite control and anti-jamming attack detection, etc., to ensure the self-healing ability of the UAV attitude control system under the interference. Compared with traditional UAV fault detection and fault-tolerant control methods, the method of the present invention can quickly compensate for interference while improving fault detection accuracy and real-time performance, and can be applied to strategic reconnaissance, earthquake relief, environmental monitoring, etc. Areas of reliable control. Background technique [0002] In recent years, with the increasing mission requirements and the increasingly complex workin...

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Problems solved by technology

[0005] The problem solved by the technology of the present invention is: the attack detection link of the existing UAV attitude control system fails to fully consider the influence of interference factors, resulting in the decrease of attitude control and attack detection accuracy under the influence of interference, and the increase of false alarm rate and false alarm rate Problems, to overcome the deficiencies in the prior art, provide a UAV attitude control system anti-jamming attack detection and self-healing controller and control method, through the rapid estimation and compensation of interference, realize the anti-jamming of UAV attitude control system Attack detection and self-healing, to solve the problem of anti-jamming self-healing control of UAV attitude control system under the simultaneous action of active attack and external interference, and ensure the integrity and reliability of UAV missions

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