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 uncertainties, an event-triggered cascade active disturbance rejection trajectory tracking control 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 additional 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 introduced 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.