Event-Triggered Finite-Time Trajectory Tracking Control for Quadrotor UAV Subjected to Time-Varying Output Constraints

This paper proposes an event-triggered finite-time adaptive fuzzy tracking control for the quadrotor unmanned aerial vehicle (UAV) subjected to time-varying output constraints and external disturbances. The challenge of the event-triggered control design is how to make the output of a quadrotor UAV not exceed the prescribed time-varying constraints and achieve finite-time tracking. By redefining the nonlinear terms and control inputs, the quadrotor UAV system is transformed into multiple input multiple output (MIMO) nonlinear system with pure-feedback structure to facilitate the tracking controller design of position and attitude. To deal with time-varying output constraint, the tangent barrier Lyapunov functions (TBLFs) are introduced in the adaptive finite-time controller design process. To save the computation, resources, and transmission load, the event-triggered mechanisms are applied to control inputs, and the closed-loop stability of quadrotor UAV system can be proved. Finally, the simulation results are given to indicate the validity of the presented control strategy.