Event-Triggered Based Adaptive Dynamic Surface Control for a Class of Quadrotor UAVs

作者：Erzhen Shang, Yang Gao, Yang Li, Bo Yu, Jiasen Sun, Yilin Jia, Cheng Zhong, Guoqiang Zhu, Xiuyu Zhang · 年份：2021 · DOI：10.1109/icicip53388.2021.9642199 · 被引用次数：1 · 研究领域：Adaptive Control of Nonlinear Systems、Distributed Control Multi-Agent Systems、Adaptive Dynamic Programming Control

A hybrid adaptive control scheme for quadrotor control system based on event-triggered mechanism is proposed for the trajectory tracking control problem of quadrotor UAV. The high-gain state observer is constructed to estimate the unmeasurable states, then the adaptive radial basis function neural networks (RBFNNs) dynamic surface control strategy is designed to achieve precise tracking control. The event-triggered mechanism is introduced, which is effective reduces the update frequency of the system control signal. The simulation results show that the proposed control scheme can achieve more accurate tracking performance than the traditional backstepping sliding mode control (BSMC) scheme without sacrificing the tracking performance of the control system.