Anti-jamming attack detection and self-healing controller and control method of UAV attitude control system

Abstract

The invention relates to an anti-jamming attack detection and self-healing controller and control method of an unmanned aerial vehicle attitude control system. At the same time, rapid estimation and online compensation ensure the self-healing ability of the UAV attitude control system under malicious attacks and improve the reliability of the UAV attitude control system. Firstly, the multi-source interference model of the UAV attitude control system is established; secondly, the inner loop variable structure interference observer is designed to realize the rapid estimation of the interference; then, the compound anti-jamming attitude control law is designed to realize the anti-jamming attitude stabilization of the UAV; Finally, the outer loop attack detection and self-healing control unit with interference compensation effect is designed to ensure that the UAV system detects the attack behavior in time and starts the repair program. The invention can improve the accuracy and real-time performance of attack detection under the influence of interference, and can solve the problem of anti-interference self-healing control of unmanned aerial vehicles in tasks such as strategic reconnaissance, earthquake relief, and environmental monitoring.

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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