Singularity-Avoidance Adaptive Predefined-Time Event-Triggered Resilient Control for a QUAV with Unknown Actuator Faults

In this study, an adaptive predefined-time event-triggered resilient control strategy is proposed for a quadrotor unmanned aerial vehicle with input saturation and unknown actuator faults. At first, the "explosion of complexity" problem in the traditional backstepping design process is successfully overcome by using the dynamic surface control technique. Then, by introducing the hyperbolic tangent function and fractional calculus item, the singularity-avoidance adaptive predefined-time event-triggered resilient controller is designed to alleviate the communication bandwidth burden and enhance the degree of freedom in controller design. Stability results prove that the proposed control scheme ensures that all signals in the closed-loop system are predefined-time bounded. Finally, the effectiveness of the proposed control strategy is verified by the simulation results.