Saturated Threshold Event-Triggered Control for Multiagent Systems Under Sensor Attacks and Its Application to UAVs

This paper investigates the secure consensus tracking problem for continuous-time nonlinear multiagent systems with sensor attacks. By designing a secure data selector, the unattacked output data is extracted from a group of output measurements under sparse sensor attacks. Then, by virtue of the obtained data and neural networks, a state observer is constructed to estimate the unavailable system states, where the convex combination theory is introduced to reduce the difficulty of solving observation gains. To utilize the limited communication resources reasonably, a novel saturated threshold event-triggered control strategy is proposed to reduce control updates, and then each update is encoded into a binary signal (0 or 1) to further reduce the occupation of communication bandwidth. The designed control scheme ensures that all closed-loop signals are semi-globally uniformly ultimately bounded, and its effectiveness is verified via a simulation of attitude control of unmanned aerial vehicles.