Adaptive Event-Triggered Finite-Time Tracking Control for a Class of Perturbed Quadrotor Unmanned Aerial Vehicles

This paper is dedicated to address the eventtriggered finite-time trajectory tracking control problem of a category of perturbed quadrotor unmanned aerial vehicles (UAVs) against partially norm-bounded and state-dependent perturbations. Adaptive compensation control strategies are developed to attenuate perturbation-induced impacts on the position and attitude tracking subsystems of the quadrotor UAVs. To minimize communication resources and actuation of actuators, eventtriggered control techniques with novel triggering mechanisms are introduced to adapt control inputs based on the developed adaptive finite-time compensation control strategies. For the purpose of guaranteeing the absence of Zeno phenomenon in the quadrotor UAVs, bounds on the inter-event execution time are defined. By incorporating the event-triggering conditions, bounded and asymptotic trajectory tracking results of position and attitude UAV subsystems are achieved respectively by utilizing Lyapunov stability theory under the influence of general perturbations. The effectiveness of the presented control strategies is validated through comparative simulation results of a quadrotor UAV system.