To accomplish the stable tracking of the multi-quadrotor, an attitude controller based on output regulation and event triggered control (ETC) is proposed to save communication and computing resources effectively. Aiming at the problems of asymptotically tracking and rejecting disturbances, a dynamic compensator, i.e., a novel internal model is designed to convert the output regulation problem of the multi-quadrotor system into the robust stabilization problem of augmented system. The designed internal model studies the desired state and desired input for each quadrotor which depends on the sampled signal of the adjacent quadrotor and itself. To this end, a novel distributed event triggered mechanism (DETM) that exclude Zeno phenomenon and a novel distributed event triggered control law (DETCL) are adopted. The stability and boundedness of all signals in the multi-quadrotor system are proved by Lyapunov method. At last, numerical simulation verify the availability of the controller in providing satisfactory tracking response and saving control energy.
Output Regulation for Multi-Quadrotor by Event-Triggered Mechanism
Lect. Notes Electrical Eng.
30.10.2021
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Output Regulation for Multi-Quadrotor by Event-Triggered Mechanism
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