Optimal Event-Triggered Control of Quadrotor with Low Power Consumption and High Stability

As one of unmanned aerial vehicles (UAV), the quadrotor has invariably been troubled by low battery energy density, high controller power consumption, and low blade efficiency, which are responsible for the short endurance of the quadrotor. To provide the quadrotor with low controller power consumption under the condition of accurate response, an optimal event-triggered control method (OECM) is proposed in this paper. In OECM, a frequency optimization function for event-triggered control of quadrotors is presented to regulate the system states of the quadrotor with minimum energy and fast response. The altitude and position tracking stability of the desired dynamics in finite time are proved by Lyapunov technique. Finally, the simulation results illustrate the efficiency and applicability of the designed control procedure in comparison with other control techniques.