The security of heterogeneous unmanned systems (HUSs) operating in open environments has become a key concern. Therefore, this paper focuses on the fractional-order adaptive resilient clustering synchronization control for a class of networked HUSs composed of multiple unmanned surface vehicles and unmanned aerial vehicles subject to deception attacks and denial-of-service (DoS) attacks. First, a distributed cluster trajectory generator is designed for each vehicle in a networked HUS to estimate the output trajectory of the leader in their respective clusters in the presence of DoS attacks on the communication layer. Then, by combining backstepping control and fractional calculus, and immersion and invariance (I&I) theory, a fractional-order adaptive synchronization tracking controller is developed to form the desired cluster formation configuration under disturbances and actuator attacks. Among them, the I&I adaptive strategy is designed to estimate the lumped uncertainty caused by attacks and disturbances. Finally, stability analysis and simulation experiments demonstrate the effectiveness of the proposed control scheme.
Li et al. (Tue,) studied this question.