An Attitude Control Method for AAV Based on Time-Varying Switching Threshold Event-Triggered Mechanism and Linear Extended State Observer

To address the dual challenges of tracking accuracy and resource efficiency for quadrotor unmanned aerial vehicle (UAV) attitude control, an event-triggered based control strategy combining backstepping sliding mode control (BSMC) with a linear extended state observer (LESO) is proposed. With a quadrotor UAV dynamic model established via Euler-Newton equations, a BSMC which combines sliding mode control and backstepping is proposed to guarantee stability of UAV and a LESO is used for real-time compensation of total disturbances to improve tracking accuracy. Moreover, a time-varying threshold event-triggered (TVST) mechanism is also deliberately developed to reduce controller update frequency while maintaining the system performance. The proposed methed is an emulation one which significantly reduces the communication and computation burden and avoid the unnecessary wear and tear of the actuator. Simulations and experimental results demonstrate that the proposed control strategy achieves an effective balance between tracking accuracy and resource conservation.