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Event-triggered active disturbance rejection trajectory tracking control for a quadrotor unmanned aerial vehicle

Author

Listed:
  • Xu, Lin-Xing
  • Wang, Yu-Long
  • Wang, Fei
  • Long, Yue

Abstract

This paper considers the problem of trajectory tracking control for a quadrotor unmanned aerial vehicle. In order to suppress the influences of unknown disturbances and model uncertainties, an event-triggered cascade active disturbance rejection trajectory tracking control scheme is developed for the quadrotor position system. The proposed control scheme can reduce the transmission frequency of sampled data, and suppress the influence of additional disturbance caused by the event-triggering mechanism. With the proposed control scheme, the trajectory tracking control of the quadrotor system can be achieved and Zeno behavior can be excluded. Moreover, a parameter adaptive adjustment mechanism is introduced to ensure the trajectory tracking performance of the system. Finally, the proposed control scheme is applied to a quadrotor system to verify its effectiveness, and its ability to suppress the influences of unknown disturbances is also verified.

Suggested Citation

  • Xu, Lin-Xing & Wang, Yu-Long & Wang, Fei & Long, Yue, 2023. "Event-triggered active disturbance rejection trajectory tracking control for a quadrotor unmanned aerial vehicle," Applied Mathematics and Computation, Elsevier, vol. 449(C).
    • Handle: RePEc:eee:apmaco:v:449:y:2023:i:c:s0096300323001364
    DOI: 10.1016/j.amc.2023.127967
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    References listed on IDEAS

    as
    1. Chen, Qi-Xin & Chang, Xiao-Heng, 2022. "Resilient filter of nonlinear network systems with dynamic event-triggered mechanism and hybrid cyber attack," Applied Mathematics and Computation, Elsevier, vol. 434(C).
    2. Wei, Lili & Chen, Mou, 2022. "Distributed DETMs-based internal collision avoidance control for UAV formation with lumped disturbances," Applied Mathematics and Computation, Elsevier, vol. 433(C).
    3. Wang, Fang & Gao, Yali & Zhou, Chao & Zong, Qun, 2022. "Disturbance observer-based backstepping formation control of multiple quadrotors with asymmetric output error constraints," Applied Mathematics and Computation, Elsevier, vol. 415(C).
    4. Yang, Wei & Cui, Guozeng & Ma, Qian & Ma, Jiali & Tao, Chongben, 2022. "Finite-time adaptive event-triggered command filtered backstepping control for a QUAV," Applied Mathematics and Computation, Elsevier, vol. 423(C).
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