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.

中文翻译：

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具有未知欺骗攻击的 QUAV 的动态事件触发预定义时间自适应姿态控制


本文重点研究四旋翼无人机（QUAV）遭受未知欺骗攻击时动态事件触发的预定义时间自适应姿态控制问题。命令滤波器用于避免“复杂性爆炸”问题，同时通过构建分数功率误差补偿信号来消除滤波误差的影响。通过使用努斯鲍姆增益技术，抵抗了未知欺骗攻击产生的未知控制系数。通过引入内部动态变量，提出一种动态事件触发的预定义时间姿态控制方案，减少了数据传输，避免了Zeno行为。证明了闭环系统实际上是预定时间稳定的，并且QUAV的姿态在预定时间内被驱动到原点附近的一个小区域。最后，通过仿真算例说明了所开发的预定义时间姿态控制算法的有效性和优越性。