Robust Quantized Consensus Of Multi-Quavs Under Actuator Faults and DoS Attacks

This study addresses the problem of quantized consensus in multiple quadrotor unmanned aerial vehicles (QUAVs) subject to actuator faults and denial of service (DoS) attacks. Existing dynamic quantization (DQ) strategies typically design scaling factors based on idealized assumptions, often neglecting actuator faults. This oversight can lead to quantizer saturation, potentially causing consensus failure in multi-QUAVs. To address this issue, a novel scaling function incorporating robustness factors is proposed to enhance the resilience of the DQ mechanism. Based on this framework, a robust quantized control strategy is developed to guarantee bounded consensus in multiple linearized QUAVs subject to both actuator faults and DoS attacks. Simulation results on a four QUAV system validate the effectiveness of the proposed approach.