Event-triggered active disturbance rejection trajectory tracking control for a quadrotor unmanned aerial vehicle

This paper considers the problem of trajectory tracking control for a quadrotor unmanned aerial vehicle. In order to suppress the influences of unknown disturbances and model un-certainties, an event-triggered cascade active disturbance rejection trajectory tracking con-trol scheme is developed for the quadrotor position system. The proposed control scheme can reduce the transmission frequency of sampled data, and suppress the influence of ad-ditional disturbance caused by the event-triggering mechanism. With the proposed control scheme, the trajectory tracking control of the quadrotor system can be achieved and Zeno behavior can be excluded. Moreover, a parameter adaptive adjustment mechanism is intro-duced to ensure the trajectory tracking performance of the system. Finally, the proposed control scheme is applied to a quadrotor system to verify its effectiveness, and its ability to suppress the influences of unknown disturbances is also verified. ?? 2023 Elsevier Inc. All rights reserved.