Fuzzy sliding mode control for trajectory tracking of quadrotor aircraft based on adaptive event-triggered mechanism

This paper deals with the problem of trajectory tracking of quadrotor aircraft in the face of external interference and actuator input saturation. Considering the characteristics of strong nonlinearity, strong coupling, time-varying, and the requirement to reduce communication resources and energy consumption, a novel fuzzy adaptive sliding mode control method for trajectory tracking based on adaptive event-triggered mechanism is proposed. Firstly, the mathematical model of quadrotor aircraft is constructed, and the adaptive sliding mode controllers of the position and attitude subsystems are designed. By introducing adaptive gain and fuzzy logic mechanism, the chattering phenomenon of the system is effectively weakened and the control precision is improved. In order to solve the problem of actuator input saturation, an anti-saturation auxiliary system is constructed. Furthermore, the adaptive event-triggered mechanism is introduced in actuator side to reduce the number of unnecessary control task executions and the consumption of communication resources. Simulation results show that the proposed control method can not only ensure the stability and tracking accuracy of the system, but also significantly reduce the consumption of communication resources and satisfy the requirement of green flight control.