This paper considers an event-triggered sliding mode control approach for quadrotor unmanned aerial vehicle (UAV) to solve the trajectory tracking control problem under communication resource constraints. Firstly, the rigid-body dynamics model of the quadrotor is analyzed and briefly described event-triggering mechanisms (ETM) for general non-linear systems. Separate controllers were designed for the position and attitude of the quadrotor, and analysed the stability of the closed-loop system using Liapunov theory. Then, it is proved that Zeno phenomenon does not exist When closed loop controlling. The simulations verify that the proposed method can effectively reduce the number of controller updates while maintaining good trajectory tracking efficiency of the quadrotor UAV under different tracking commands. Meanwhile, it reduces the amount of controller computation and improves the system resource utilization.


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    Title :

    Quadrotor Unmanned Aerial Vehicle Trajectory Tracking Under Event-Triggered Sliding Mode Control


    Additional title:

    Communic.Comp.Inf.Science


    Contributors:
    Magnenat Thalmann, Nadia (editor) / Hu, Xinrong (editor) / Sheng, Bin (editor) / Thalmann, Daniel (editor) / Peng, Tao (editor) / Meng, Weiliang (editor) / Huang, Jin (editor) / Zhu, Lei (editor) / Wei, Xiong (editor) / Jiang, Han (author)

    Conference:

    International Conference on Computer Animation and Social Agents ; 2024 ; Wuhan, China June 05, 2024 - June 07, 2024



    Publication date :

    2025-03-09


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English