Event-triggered robust control for quadrotors with preassigned time performance constraints

作者：

Highlights：

• An event-triggered robust control for quadrotors with preassigned time performance constraints is presented.

• A switching threshold event-triggered based extended state observer is established to accomplish unknown velocity and lumped disturbances using intermittent measurements.

• A tracking differentiator-based prescribed performance control mechanism is exploited to ensure the trajectory state converge to a pre-given region with a preassigned prescribed time.

摘要

•An event-triggered robust control for quadrotors with preassigned time performance constraints is presented.•A switching threshold event-triggered based extended state observer is established to accomplish unknown velocity and lumped disturbances using intermittent measurements.•A tracking differentiator-based prescribed performance control mechanism is exploited to ensure the trajectory state converge to a pre-given region with a preassigned prescribed time.

论文关键词：Preassigned time performance constraints,Quadrotors,Tracking differentiator,Extended state observer,Event-triggered

论文评审过程：Received 21 June 2020, Revised 31 August 2020, Accepted 5 September 2020, Available online 29 September 2020, Version of Record 29 September 2020.

论文官网地址：https://doi.org/10.1016/j.amc.2020.125667