Sridhar, Kaustubh (Indian Institute of Technology Bombay), Sukumar, Srikant (IIT Bombay)

Finite-Time, Event-Triggered Tracking Control of Quadrotors

Scheduled for presentation during the Regular Session "Multirotor UAVs" (ThA1), Thursday, April 4, 2019, 16:00−16:30, Carassa-Dadda

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this paper, we present a novel quaternion-based event triggered control strategy for trajectory tracking with a quadrotor that is suitable for implementation on digital platforms with hardware constraints. The proposed control ensures asymptotic convergence to a desired position trajectory and finite time convergence to a desired attitude trajectory. We also present Lyapunov based analysis to demonstrate validity of the triggering scheme and also rule out Zeno behaviour. The performance of the event triggered control laws are demonstrated through numerical simulations.