Event-triggered Adaptive Attitude Tracking Control of a Quadrotor UAV

This paper presents a novel attitude controller based on event-triggered mechanism for the uncertain quadrotor unmanned aerial vehicle (UAV). Due to the uncertainties contained, it is difficult to check the assumption of the ISS with respect to the measurement errors. Therefore, an adaptive controller and an event-triggered mechanism are to be employed such that the ISS assumption is no more needed. Two different strategies, i.e. the fixed threshold strategy and the relative threshold strategy are both established in an event-triggered mechanism, with which all the closed-loop signals are globally bounded and the tracking errors converge towards a small compact set. It is obvious that the updating frequency of the control signal has been reduced and the communication burden of the network is decreased therefore.