Liu, Mingchao (University of Science and Technology Liaoning), Chen, Ming (University of Science and Technology Liaoning), Sun, Yue (University of Science and Technology Liaoning), Jiao, Xiaoxuan (University of Science and Technology Liaoning)

Event Triggering Control of Quadrotor UAV with External Interferences Based on State Constrains

Scheduled for presentation during the Regular session "Vehicle Control I" (ThA2), Thursday, October 31, 2024, 10:30−10:50, Room T2

7th IFAC Conference on Engine and Powertrain Control, Simulation and Modeling, Oct 30 - Nov 1, 2024, Dalian, China

This information is tentative and subject to change. Compiled on May 16, 2025

Abstract

This paper addresses the tracking control problem of a quadrotor Unmanned Aerial Vehicle (UAV) under external disturbances and output error constraints. Initially, the dynamics model of the quadrotor UAV is converted into a strict-feedback form. Two controllers are designed for the attitude subsystem and the position subsystem, respectively. In the process of controller design, the barrier Lyapunov functions are used to make the tracking errors bound to the specified range. In addition, the disturbance observers are developed to estimate the external disturbances, and the filters are employed to estimate the derivatives of certain virtual control inputs in the attitude subsystem. Specifically, the triggering mechanism is introduced to save communication resources. Stability analysis demonstrates that the designed controllers guarantee the bounded stability of the tracking errors and maintain them within the preset boundaries. Finally, simulation results confirm the effectiveness of the proposed control strategy.