The approach of hybrid adaptive coupling synchronization among N Lorenz systems and its application in secure communication for multi‐unmanned aerial vehicle formation

Abstract

In this paper, it is proposed that a hybrid global adaptive coupling synchronization scheme among N Lorenz chaotic dynamical nodes to realize the secure communication system between base station and multi-unmanned aerial vehicle (UAV) formation. The specific method is that the feedback drive-response synchronization is utilized for first two nodes of base station and the leader of multi-UAV formation, and the nodes of all UAVs are coupled by unidirectional adaptive coupling synchronization according to a directed link in ad hoc network of multi-UAV formation. It is demonstrated that the asymptotic stability of the proposed hybrid adaptive coupled synchronization by constructing the Lyapunov function. In this way, the encrypted information formed by plaintext information masked into the chaotic sequence generated by the chaotic dynamical node of base station; meanwhile, it is fed back into the base station node as the drive system. On the other hand, encrypted information is forwarded to the leader node as the response system for decryption. The feedback driver-response synchronization is used to realize secure communication between the base station and the leader of multi-UAV formation. Meanwhile, secure communication among its leader and followers is achieved through the unidirectional adaptive coupling synchronization in the network. This strategy ensures the multi-UAV formation decrypting encrypted information synchronously and effectively improves the security, consistency, and overall performance of their commands.

Research on the strategies for collision avoidance of multi‐UAV with three dimensional formation in combination of consensus algorithm and uniform flow

“…① The master multi-UAV formation treated as a moving circular obstacle is flying along the trajectory of Equation (34) forever. The formation geometric of master and slave multi-UAV are designed the same as Figure 4, ALGORITHM 2 Slave multi-UAV formation actively avoids master multi-UAV formation.…”

“…One multi-UAV formation flies along circular orbit Equation (16), and its parameters are A 1−x = −ℜ𝜔 1 cos(𝜔 1 t ), A 1−y = −ℜ𝜔 1 sin(𝜔 1 t ). Another multi-UAV formation flies along circular orbit Equation (34), and its parameters are A 2−x = −ℜ𝜔 2 cos(𝜔 2 t ), A 2−x = ℜ𝜔 2 sin(𝜔 2 t ). Their parameters information is transmitted by ground base station.…”

“…② IfDDD > HHH , it means that two multi-UAV are not close to each other and they perform the formation flight along their respective trajectories using Equations ( 16), ( 21) and (34). Assume that their communication topology is the same as Figure 5.…”

“…By the way, formation maintenance greatly maintains the robustness of multi‐UAV network topology, which in turn promotes the reliability of multi‐UAV formation to strengthen their overall effectiveness. The communication between UAVs will not be weakened or interrupted due to shadow fading caused by these obstacles [34].…”

“…The threshold distanceHH should be greater thanR, and it is appropriate to choose HH = 8. ② IfDD > HH , it means that the master-slave multi-UAV formation are not close to each other and they performs formation flight along their respective trajectories using Equations ( 16), ( 21) and (34). Assume that their ALGORITHM 3 mutual collision avoidance between two multi-UAV with fixed 3-D formation.…”