The Application of Event-Triggered-Based Model Predictive Control for Trajectory Tracking of Quadrotor in Municipal Engineering

The maintenance of municipal facilities has always been an important public affairs, in order to ensure the smooth traffic and driving safety of the city, it is necessary to carry out regular inspection of the road surface and traffic signs. The use of drone inspection can find problems such as uneven road surface and illegal parking, so as to avoid traffic congestion and accidents. In this paper, a control method based on the combination of model predictive control and event triggering is proposed to control the trajectory tracking of the four-rotor UAV. The control method of model predictive control (MPC) enables the four-rotor UAV to track the preset path well. In addition, the original four-rotor UAV dynamic model is simplified, and the event-triggered control idea designed in this paper solves the problem of excessive consumption of communication resources in model predictive control well, and provides conditions for installing functions such as visual processing and infrared remote sensing on the UAV in subsequent municipal maintenance. The simulation results show that the proposed control scheme can better track the reference trajectory of the quadrotor and reduce the consumption of communication resources.