{"id":"https://openalex.org/W4400275273","doi":"https://doi.org/10.1109/tase.2024.3420697","title":"Resilient Consensus Control of Heterogeneous Multi-UAV Systems With Leader of Unknown Input Against Byzantine Attacks","display_name":"Resilient Consensus Control of Heterogeneous Multi-UAV Systems With Leader of Unknown Input Against Byzantine Attacks","publication_year":2024,"publication_date":"2024-07-03","ids":{"openalex":"https://openalex.org/W4400275273","doi":"https://doi.org/10.1109/tase.2024.3420697"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3420697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3420697","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048253771","display_name":"Yukang Cui","orcid":"https://orcid.org/0000-0001-8783-7441"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukang Cui","raw_affiliation_strings":["College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8783-7441","affiliations":[{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006343148","display_name":"Yiwen Liang","orcid":"https://orcid.org/0000-0002-8297-5009"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Liang","raw_affiliation_strings":["College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104007819","display_name":"Qianyue Luo","orcid":"https://orcid.org/0000-0001-6648-5950"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qianyue Luo","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong","Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Pokfulam, Hong Kong","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101561346","display_name":"Zhan Shu","orcid":"https://orcid.org/0000-0002-5933-254X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhan Shu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5933-254X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074290686","display_name":"Tingwen Huang","orcid":"https://orcid.org/0000-0001-9610-846X"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]},{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tingwen Huang","raw_affiliation_strings":["Faculty of Computer Science and Control Engineering, Shenzhen University of Advanced Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9610-846X","affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Control Engineering, Shenzhen University of Advanced Technology, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.6694,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.99212258,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"5388","last_page":"5399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.7472000122070312,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.7472000122070312,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10270","display_name":"Blockchain Technology Applications and Security","score":0.6977999806404114,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10994","display_name":"Terrorism, Counterterrorism, and Political Violence","score":0.6723999977111816,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/byzantine-fault-tolerance","display_name":"Byzantine fault tolerance","score":0.5954174399375916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.529739499092102},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5064710378646851},{"id":"https://openalex.org/keywords/byzantine-architecture","display_name":"Byzantine architecture","score":0.5021710395812988},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.448906809091568},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42392516136169434},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38121283054351807},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.32430773973464966},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3216799199581146},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.1978262960910797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17969989776611328}],"concepts":[{"id":"https://openalex.org/C168021876","wikidata":"https://www.wikidata.org/wiki/Q1353446","display_name":"Byzantine fault tolerance","level":3,"score":0.5954174399375916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.529739499092102},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5064710378646851},{"id":"https://openalex.org/C104562893","wikidata":"https://www.wikidata.org/wiki/Q47591","display_name":"Byzantine architecture","level":2,"score":0.5021710395812988},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.448906809091568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42392516136169434},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38121283054351807},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.32430773973464966},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3216799199581146},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.1978262960910797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17969989776611328},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C195244886","wikidata":"https://www.wikidata.org/wiki/Q41493","display_name":"Ancient history","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3420697","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3420697","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G2367185006","display_name":null,"funder_award_id":"2023YFE0126800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G709873553","display_name":null,"funder_award_id":"2024A1515030153","funder_id":"https://openalex.org/F4320332533","funder_display_name":"Applied Basic Research Foundation of Yunnan Province"},{"id":"https://openalex.org/G7247263082","display_name":null,"funder_award_id":"2024A1515030153","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320332533","display_name":"Applied Basic Research Foundation of Yunnan Province","ror":"https://ror.org/030jhb479"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1551360398","https://openalex.org/W1973184571","https://openalex.org/W1986486153","https://openalex.org/W2090725032","https://openalex.org/W2148993855","https://openalex.org/W2156938767","https://openalex.org/W2315448583","https://openalex.org/W2342952057","https://openalex.org/W2475020744","https://openalex.org/W2499597001","https://openalex.org/W2554143848","https://openalex.org/W2579755706","https://openalex.org/W2766003054","https://openalex.org/W2783536424","https://openalex.org/W2889292766","https://openalex.org/W2963177211","https://openalex.org/W2982793363","https://openalex.org/W3007442396","https://openalex.org/W3008804564","https://openalex.org/W3039654581","https://openalex.org/W3133605356","https://openalex.org/W3137092842","https://openalex.org/W3139390952","https://openalex.org/W3195704320","https://openalex.org/W3206944467","https://openalex.org/W4200008604","https://openalex.org/W4213367573","https://openalex.org/W4221077845","https://openalex.org/W4285116591","https://openalex.org/W4292873576","https://openalex.org/W4295308245","https://openalex.org/W4313144554","https://openalex.org/W4313190634","https://openalex.org/W4317033494","https://openalex.org/W4318824478","https://openalex.org/W4320802769","https://openalex.org/W4322730882","https://openalex.org/W4378365335","https://openalex.org/W4381198781","https://openalex.org/W4382931844","https://openalex.org/W4399336252"],"related_works":["https://openalex.org/W635625959","https://openalex.org/W1548189724","https://openalex.org/W4242769984","https://openalex.org/W2034320198","https://openalex.org/W4252331942","https://openalex.org/W4386477301","https://openalex.org/W4220997590","https://openalex.org/W2355865573","https://openalex.org/W2155981143","https://openalex.org/W2155245395"],"abstract_inverted_index":{"This":[0,259,315],"paper":[1,260],"addresses":[2],"the":[3,42,63,75,78,85,90,100,103,119,131,134,148,157,162,171,185,250,263,268,284,295,304,307,318,335,343,352,355,362,368,381],"consensus":[4,124,160,173,265],"control":[5,120,200,227,266,374],"problem":[6],"of":[7,44,102,112,184,201,214,311,320,337,372,384],"heterogeneous":[8,163],"multi-UAV":[9,164],"systems":[10,165],"against":[11,70,80,166,267,347,357],"Byzantine":[12,18,71,81,167,273,322,348,358],"attacks.":[13,169,274],"A":[14],"drone":[15],"compromised":[16,244],"by":[17,41,106,191,303,334],"attacks":[19,73,83,350,360],"transmits":[20],"erroneous":[21],"values":[22],"to":[23,38,137,155,198,257],"its":[24],"neighbors":[25],"while":[26],"applying":[27],"wrong":[28],"input":[29,289,313],"signals":[30],"for":[31,161,206,380],"itself,":[32],"which":[33,61,341,376],"is":[34],"aggressive":[35],"and":[36,77,182,208,233,245,306,354,370],"challenging":[37],"defend.":[39],"Inspired":[40],"concept":[43,336],"digital":[45,338],"twin":[46,58,339],"technology,":[47,340],"we":[48,92,327],"introduce":[49,328],"a":[50,56,94,109,126,138,192,211,299,329],"new":[51,330],"hierarchical":[52,331],"protocol":[53,332],"equipped":[54],"with":[55,247],"virtual":[57],"layer":[59,87],"(TL),":[60],"decouples":[62,342],"challenges":[64,344],"into":[65,345],"two":[66],"defense":[67,346,356],"schemes:":[68],"one":[69],"edge":[72,349],"on":[74,84,133,281,351,361],"TL":[76,135,353],"other":[79],"node":[82,168,359],"cyber-physical":[86,363],"(CPL).":[88],"In":[89,291,324],"TL,":[91],"provide":[93],"topology":[95,132],"reconfiguration":[96],"strategy":[97,121],"that":[98,118,130],"enhances":[99],"resilience":[101],"communication":[104],"network":[105,252],"judiciously":[107],"adding":[108],"minimal":[110],"number":[111],"key":[113],"edges.":[114],"We":[115],"rigorously":[116],"demonstrate":[117],"attains":[122],"asymptotic":[123],"within":[125],"finite":[127],"timeframe,":[128],"given":[129],"adheres":[136],"strongly":[139],"<inline-formula":[140],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[142],"<tex-math":[143],"notation=\"LaTeX\">$(2f+1)$":[144],"</tex-math></inline-formula>-robustness":[145],"criterion.":[146],"Within":[147],"CPL,":[149],"decentralized":[150],"chattering-free":[151],"controllers":[152],"are":[153,189,243,309],"proposed":[154,232],"ensure":[156],"resilient":[158,264],"output":[159],"Furthermore,":[170],"derived":[172],"controller":[174],"exhibits":[175],"an":[176],"exponential":[177],"convergence":[178],"characteristic.":[179],"The":[180,275,365],"effectiveness":[181],"practicality":[183],"obtained":[186],"theoretical":[187],"results":[188,277],"verified":[190],"UAV":[193,219,286],"swarm":[194],"flight":[195],"experiment.":[196],"Note":[197],"Practitioners\u2014Cooperative":[199],"UAVs":[202],"presents":[203],"significant":[204,269],"prospects":[205],"application":[207],"development,":[209],"becoming":[210],"focal":[212],"point":[213],"automatic":[215],"control.":[216],"By":[217],"modeling":[218],"swarms":[220],"as":[221],"multi-agent":[222],"systems,":[223],"various":[224],"complex":[225],"distributed":[226],"methods":[228],"have":[229,278],"been":[230],"conveniently":[231],"implemented":[234],"economically":[235],"in":[236],"practical":[237,292,382],"systems.":[238],"However,":[239],"when":[240],"certain":[241],"agents":[242],"interfere":[246],"their":[248],"neighbors,":[249],"whole":[251],"may":[253],"become":[254],"highly":[255],"susceptible":[256],"failure.":[258],"specifically":[261],"studies":[262],"active":[270],"internal":[271],"threats,":[272],"published":[276],"primarily":[279],"focused":[280],"cases":[282],"where":[283],"leader":[285,296],"has":[287,298],"no":[288],"signals.":[290],"applications,":[293],"however,":[294],"often":[297],"pre-established":[300],"trajectory":[301],"sent":[302],"host":[305],"followers":[308],"unaware":[310],"this":[312,325],"information.":[314],"significantly":[316],"complicates":[317],"task":[319],"identifying":[321],"attackers.":[323],"work,":[326],"inspired":[333],"layer.":[364],"experiment":[366],"shows":[367],"feasibility":[369],"security":[371],"our":[373],"scheme,":[375],"provides":[377],"valuable":[378],"guidance":[379],"applications":[383],"drones.":[385]},"counts_by_year":[{"year":2026,"cited_by_count":19},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":11}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}