Hybrid event-triggered tracking control for unmanned autonomous helicopter under disturbance and deception attacks

Abstract

This paper studies the hybrid event-triggered tracking control based on an unmanned autonomous helicopter (UAH) and an unmanned ground vehicle (UGV) under unmeasurable states, transmission delay, external disturbance, and deception attacks. By designing a switching condition, a hybrid event-triggered scheme (ETS) is proposed to realize an elegant trade-off between less data transmissions and control performance. Then, based on the designs of the observer and tracking controller, an augmented closed-loop system is established, and a sufficient condition on uniform ultimate boundedness is presented. Moreover, a co-design method of the hybrid ETS, observer, and controller is obtained via linear matrix inequalities (LMIs), which is further extended by utilizing an improved adaptive hybrid ETS. Finally, some simulation and comparisons are exploited to illustrate the proposed method.