Dynamics‐Memory‐Event‐Based Adaptive Attitude Consensus Control for Multi‐UAVs With Self‐Adjusting Performance

ABSTRACT This paper investigates the attitude consensus control problem of a nonlinear unmanned aerial vehicle (UAV) attitude system subject to deferred performance constraints, external disturbance, and input saturation. The inherent nonlinearities and actuator saturation in UAV dynamics pose significant challenges to control design, particularly when performance guarantees are required under external disturbance and constrained control inputs. To address these challenges, we propose a novel intelligent adaptive fusion control method that incorporates a dynamic memory event‐triggered mechanism (DMETM) to reduce communication and computational overhead while maintaining system stability and performance. A novel error‐shifting mechanism is developed to overcome singularity challenges in deferred‐constrained systems, accompanied by a non‐singular funnel control strategy to ensure stable implementation of deferred constraint enforcement. By employing Lyapunov stability theory, the proposed approach effectively handles external disturbance and input saturation, ensuring that the UAV attitude system satisfies predefined performance criteria under these constraints. Finally, simulation results validate the efficacy of the proposed method, demonstrating its ability to achieve robust and efficient attitude control in realistic scenarios.