Abstract: This paper proposes a directional expelling attack method based on deceptive signal for Unmanned Aerial Vehicle (UAV) swarm with leader-following structure. Firstly, two deceptive signal models, namely false deviation signal and given state signal, are constructed; Secondly, sufficient conditions for achieving UAV swarm directional expelling un-der two types of deceptive signal attacks are provided; Finally, the explicit expressions for the center function are de-termined, which determined the motion trajectory of the UAV swarm after directional expelling, the effects of two types of deceptive signals on the motion trajectory of UAV swarm after directional expelling are analyzed, wherein the mo-tion trajectory of the UAV swarm after being attacked by 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 given state signal is determined by the reference trajectory preset by the attacker. A numerical simulation is presented to verify the effec-tiveness of the theoretical results.

Key words: leader-following UAV swarm, false deviation signal, given state signal, motion trajectory, directional expelling attack