Event-Triggered Attack-Tolerant Control for Quadrotor UAV

In view of the loss of speed caused by the attack of the four-rotor UAV executor, an adaptive control method is designed to maintain the altitude and posture of the UAV without the attack diagnostic mechanism. Adaptive event trigger control methods also consider the mechanism of event triggering. The main impact of attacks on UAVs is the loss of thrust from UAVs. The attack-tolerant method designed in this paper can ensure that the tracking error of multi-acting device can maintain altitude and attitude when attacked is gradually convergent. At the same time, the event trigger method reduces the use of communication resources. Simulation proves the validity of the method.