Output Regulation for Quadrotor UAV by Event-Triggered Mechanism

To accomplish the stable tracking of the quadrotor, an attitude controller based on output regulation and event triggered control (ETC) is proposed to save communication and computing resources effectively. Aiming at the problems of asymptotically tracking and rejecting disturbances, a dynamic compensator, i.e., an internal model is designed to convert the output regulation problem of the quadrotor system into the robust stabilization problem of the augmented system. The state-based event triggered control law (ETCL) and the event triggered mechanism (ETM) that exclude the Zeno phenomenon are adopted to solve the stabilization problem. The stability and boundedness of all signals in the control system are proved by Lyapunov method. Finally, simulation results verify the effectiveness of the controller in providing satisfactory tracking performance and saving communication resources.