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

Jiawen Liao; Tao Li; Zehui Mao; Shumin Fei

doi:10.1016/j.isatra.2022.09.039

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

ISA Trans. 2023 Apr:135:23-34. doi: 10.1016/j.isatra.2022.09.039. Epub 2022 Oct 5.

Authors

Jiawen Liao¹, Tao Li², Zehui Mao¹, Shumin Fei³

Affiliations

¹ College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, PR China.
² College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, PR China. Electronic address: autolitao@nuaa.edu.cn.
³ School of Automation, Southeast University, Nanjing 210096, PR China.

PMID: 36270809
DOI: 10.1016/j.isatra.2022.09.039

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.

Keywords: Deception attacks; Disturbance rejection control; Hybrid event-triggered scheme; Tracking control; Unmanned autonomous helicopter.