Data-based dynamic event-triggered attitude control for helicopter with aperiodic denial-of-service attacks

This paper investigates a dynamic event-triggered model-free adaptive control (MFAC) method for a three-degree-of-freedom helicopter subjected to aperiodic denial-of-service (DoS) attacks to perform attitude control tasks. Firstly, a redefined output is designed to satisfy a quasi-linearization requirement of MFAC theory. Meanwhile, a differential signal is designed to reduce the impact of the redefined output. Then, a dynamic event-triggered strategy is formulated, including a dynamic condition that reduces communication frequencies. Additionally, a DoS attack compensation method has been developed, which effectively mitigates the effects of aperiodic DoS attacks. Moreover, the convergence of the tracking error of the controlled helicopter with the designed method is strictly proven. Finally, simulation results further demonstrate the effectiveness of the designed scheme.