Predefined-time multiparty synchronization of multiple quadrotor unmanned aerial vehicles under malicious attacks via...

This paper addresses the dynamic event-triggered predefined-time multiparty synchronization (DEPTMS) control problem for multiple quadrotor unmanned aerial vehicles (QUAVs) subject to malicious attacks. The proposed multiparty synchronization (MS) scheme requires the ith QUAV to synchronize its state with a leader signal scaled by an arbitrary non-zero constant M_i. To mitigate the "explosion of complexity" inherent in conventional backstepping control, a command filtering technique is employed, along with an error compensation mechanism to counteract filtering errors. A dynamic event-triggered mechanism incorporating internal dynamic variables is designed to reduce communication while effectively excluding Zeno behavior. To handle unknown malicious attacks, adaptive parameters are introduced to estimate the bounds of malicious attack signals, which overcomes the limitation of relying on prior knowledge of attack boundaries in the controller design process. It is proven that the multiple QUAVs systems are stable within a predefined-time, and the MS errors can converge to a small neighborhood near the origin at a predefined time. Numerical and Speedgoat real-time simulation results demonstrate the effectiveness and superiority of the proposed control method.