本文針對隨機四旋翼無人機系統受到系統狀態和傳感器的惡意攻擊，提出了一種網絡安全跟踪控制方案。通過新穎的離散平滑模型，可以導出攻擊信號模型，並用四旋翼無人機模型進行擴充。通過常見的Luenberger觀測器，可以同時估算攻擊信號以及四旋翼系統狀態。這樣，就可以避免攻擊信號導致四旋翼無人機網絡控制系統損壞。為了使四旋翼無人機的網絡控制系統能夠在外部干擾以及執行器和傳感器攻擊下跟踪任何種類的所需軌跡，並完成其任務，參考模型被利用來生成四旋翼無人機的所需路徑。為了消除外部干擾和內在波動的影響，引入了基於H_∞觀測器的魯棒跟踪控制方案，以減弱它們對四旋翼無人機網絡控制系統的影響。此外，可以將強健的H_∞基於觀察者的參考跟踪控制設計轉換為等效的非線性功能不等式。由於非線性函數不等式不易用解析或數值方法求解，因此採用Takagi-Sugeno（T-S）模糊插值技術通過一組模糊局部線性局部系統對非線性隨機四旋翼網絡控制系統進行插值。然後，可以將非線性函數不等式轉換為一組線性矩陣不等式。通過MATLAB中線性矩陣不等式的工具箱，可以得到線性矩陣不等式的解，並且可以輕鬆實現所提出的基於強健模糊觀測器的四旋翼無人機NCS跟踪控制器。一個模擬的例子被提供來驗證了所提方法的有效性。

In this study, a networked security tracking control scheme is proposed for the stochastic quadrotor unmanned aerial vehicle (UAV) system under malicious attacks on the system state and sensor. By a novel discrete smoothed model, the model of attack signals can be derived and augmented with the quadrotor UAV model. Through a conventional Luenberger observer, attack signals as well as the quadrotor system state can be simultaneously estimated. Then, the corruption of the quadrotor UAV network control system (NCS) under attack signals can be avoidable. To make the NCS of quadrotor UAV be able to track any kinds of desired trajectory under external disturbances and actuator and sensor attack to complete its tasks, a reference model is utilized to generate the desired path of quadrotor UAV. For eliminating the influence from external disturbance and intrinsic fluctuation, a robust H_∞ observer-based tracking control scheme is introduced to attenuate their effects on the NCS of quadrotor UAV. Further, the robust H_∞ observer-based reference tracking control design can be transformed to an equivalent nonlinear functional inequality. Since the nonlinear functional inequality is 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. Then, the nonlinear functional inequality can be converted to a set of linear matrix inequalities (LMIs). By the MATLAB LMI TOOLBOX, LMIs can be solved and the proposed robust fuzzy observer-based tracking controller of quadrotor UAV NCS can be easily implemented. A simulation example is provided to validate the effectiveness of the proposed method.

Contents
摘要.........................................................i
Abstract....................................................ii
誌謝........................................................iii
Contents....................................................iv
I. Introduction..............................................1
II. System description and preliminaries.....................2
A. Dynamic model of quadrotor UAV....................2
B. Network control system............................3
C. Problem formulation...............................7
III. H_∞ networked observer-based security tracking control design of stochastic quadrotor UAV..................................7
IV. T-S fuzzy networked H_∞ observer-based security tracking control for nonlinear stochastic quadrotor UAV system under cyber-attack.......................................................9
V. Simulation results.......................................14
VI. Conclusion..............................................17
Appendix....................................................18
Reference...................................................29

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