面 向 领 导 跟 随 无 人 机 蜂 群 的 定 向 驱 离 攻 击 方 法

A directional expelling attack method for Unmanned Aerial Vehicle（UAV）swarm with leader-follower structure based on the deceptive signal is proposed. Firstly，two types of deceptive signal models，namely false deviation signal and given state signal，are constructed. Secondly，sufficient conditions for achieving UAV swarm directional expelling under two types of deceptive signal attacks are provided. Finally，the explicit expressions for the center function which determines the motion trajectory of the UAV swarm after directional expelling are determined，and the effects of two types of deceptive signals on the motion trajectory of UAV swarm after directional expelling are analyzed. It is found that the motion trajectory of the UAV swarm after being attacked by the false deviation signal is affected by the average value of all false deviation signals，however，the motion trajectory of the UAV swarm after being attacked by the given state signal is determined by the reference trajectory preset by the attacker. Numerical simulation is conducted to verify the effectiveness of the theoretical results.