摘要
In this study, a robust H&null networked security observer-based reference tracking control scheme is proposed for the stochastic quadrotor unmanned aerial vehicle (UAV) system under malicious attacks on the actuator and sensor of network control system (NCS). To reduce the computational burden on UAV system, the UAV system is connected with a remote computing unit and the complicated tracking control command can be calculated by remote computing unit. By using the novel discrete smoothed model, the model of attack signals on actuator and sensor can be embedded in system state of UAV and thus the attack signals as well as the quadrotor system state can be simultaneously estimated through a conventional Luenberger observer. Further, the corruption of attack signals on state estimation of UAV is also avoided. To eliminate the effect of unavailable external disturbance and intrinsic fluctuation during the reference tracking control process, a robust H&null networked security observer-based reference tracking control scheme is introduced to attenuate their effects on the NCS of quadrotor UAV. By using the characteristic of convex Lyapunov function, the design condition of robust H&null networked security observer-based tracking control is derived in terms of the nonlinear functional inequalities. Since the nonlinear functional inequalities are not easy to be solved analytically or numerically, the Takagi-Sugeno (T-S) fuzzy interpolation technique is employed to interpolate the nonlinear stochastic quadrotor NCS by a set of linear local systems via fuzzy bases. In this case, the nonlinear functional inequalities can be converted to a set of linear matrix inequalities (LMIs) which can be easily solved by the MATLAB LMI TOOLBOX. Simulation results are provided to validate the effectiveness of the proposed method in comparison with conventional robust observer-based T-S fuzzy tracking control scheme.