Dynamic event-triggered predefined-time adaptive attitude control for a QUAV with unknown deception attacks.

This paper focuses on the problem of dynamic event-triggered predefined-time adaptive attitude control of quadrotor unmanned aerial vehicle (QUAV) suffering from unknown deception attacks. The command filter is utilized to avoid the "explosion of complexity" problem, while concurrently eliminating the effect of filtered error by constructing the fractional power error compensation signals. By using the Nussbaum gain technique, the unknown control coefficients generated by unknown deception attacks have been resisted. A dynamic event-triggered predefined-time attitude control scheme is proposed by introducing internal dynamic variables, which reduces the data transmissions and avoids the Zeno behavior. It is proved that the closed-loop system is practically predefined-time stable, and the attitude of QUAV is driven into a small region near the origin in a predefined time. Finally, a simulation example is provided to show the effectiveness and superiority of the developed predefined-time attitude control algorithm. • The proposed predefined-time control algorithm of QUAV presets the upper bound of settling time and merely need to adjust one design parameter. • The presented design approach based on predefined-time CFB framework can remove the effect of filtered error in a predefined time. • A DETM predefined-time control scheme of QUAV is proposed, which can adjust event thresholds to reduce triggered numbers and avoid Zeno behavior. [ABSTRACT FROM AUTHOR]