Abstract
Communication plays a role in multi-UAV to perform formation tracking missions. In complex environments, UAV communication is often subject to jamming attacks, affecting the formation process. Therefore, studying the formation tracking control problem in jamming attacks is of great significance. Typically, the actions of the UAV consist of two fundamental modules: mobility strategy and communication strategy. In this paper, we design an anti-jamming attack mixed strategy for formation tracking control of the multi-UAV system. In practical scenarios, multi-UAV systems not only require the accomplishment of formation maneuvers but also necessitate effective mitigation of jamming attacks caused by other UAVs. Therefore, we suppose there are three types of UAVs: leaders, followers, and jammers. To illustrate the interactions between multiple UAVs of the formation tracking process under jamming attack, a three-layer Stackelberg game is constructed. Leaders and followers need to resist interference from jammers during the formation tracking process with a leader-follower structure. Leaders and followers achieve formation tracking through cooperation. The interactions between jammers and the other UAVs form a non-cooperative game. Moreover, the utility functions of a mixed strategy, which contain mobility and communication strategies, are designed for the three-layer Stackelberg game. The Stackelberg-Nash equilibrium of the designed game model is proven to exist. For seeking the Stackelberg-Nash equilibrium, a tri-level actor-critic (Tri-AC) reinforcement learning algorithm is designed. The convergence of the designed algorithm is also proved theoretically. Finally, the effectiveness of the designed method is verified by various simulation experiments.
Recommended Citation
L. Xue et al., "Anti-Jamming Attack Mixed Strategy for Formation Tracking Control Via Game-Theoretical Reinforcement Learning," IEEE Transactions on Intelligent Vehicles, vol. 10, no. 5, pp. 3382 - 3397, Institute of Electrical and Electronics Engineers, Jan 2025.
The definitive version is available at https://doi.org/10.1109/TIV.2024.3452483
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
Keywords and Phrases
Anti-jamming; formation tracking; mixed strategy; reinforcement learning; Stackelberg game
International Standard Serial Number (ISSN)
2379-8858
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jan 2025
Comments
Natural Science Foundation of Jiangsu Province, Grant BK20231417