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This article is concerned with the problem of leader-following consensus tracking control for multi-unmanned aerial vehicle (UAV) systems under deception attacks and actuator saturation. While guaranteeing the expected control performance, a novel adaptive event-triggered scheme (AETS) is developed to reduce the frequency of data transmission among UAVs and reduce the release of redundant data, where the adaptive threshold can be adjusted online according to the dynamic error instead of giving a default value. With the help of a new Lyapunov function, sufficient conditions and security criteria are developed to ensure that all following UAVs could reach secure consensus asymptotically with a leader UAV. Lastly, an illustrative example is presented to validate the effectiveness of the designed method.

Adaptive Leader-Following Consensus Tracking Control of Multiple UAVs Subject to Deception Attacks