Tracking Control for Unmanned Aerial Vehicles with Time-Delays Based on Event-Triggered Mechanism

被引：0

作者：

Zhang, Min ^{[1
,2
]}

Ding, Zhengtao ^{[3
]}

Huang, Jing ^{[1
,2
]}

Huang, Tingxuan ^{[1
,2
]}

机构：

[1] Shanghai Aerosp Control Technol Inst, Shanghai 201109, Peoples R China

[2] Shanghai Key Lab Aerosp Intelligent Control Techn, Shanghai 201109, Peoples R China

[3] Univ Manchester, Control Syst Ctr, Sch Elect & Elect Engn, Manchester M13 9PL, Lancs, England

来源：

CONTROL ENGINEERING AND APPLIED INFORMATICS | 2019年 / 21卷 / 03期

基金：

中国国家自然科学基金; 上海市自然科学基金;

关键词：

event-triggered control; tracking control; UAV; time-delay; robust control; FAULT-TOLERANT CONTROL; STABILIZATION CONDITIONS; SYSTEMS; DIAGNOSIS; STABILITY;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A position tracking control approach is presented for quad-rotor unmanned aerial vehicles (UAVs) with multiple state time-delays and external disturbances based on an event-triggered mechanism. This approach achieves the desired performance by using less control execution, which results in a reduction in the usage rate of the onboard embedded microprocessor. First, the basic control structure is formed by a weighted multiple-model method. Next, the event-triggered mechanism is designed in such a way to achieve an aperiodic control approach. This is done by embedding the mechanism into the existing control structure. Additionally, the negative influence of time-delays and external disturbances are considered using a linear matrix inequality (LMI) technique based on a Lyapunov function. This allows the coefficients of the controller and event-triggered mechanism to be obtained. Consequently, the system can be stabilized and performs robustly. The position tracking control approach is applied to a quad-rotor UAV and the simulation results confirm its effectiveness.

引用

页码：12 / 19

页数：8

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