A Switching Method to Event-Triggered Output Feedback Control for Unmanned Aerial Vehicles Over Cognitive Radio Networks

Abstract

This article investigates the event-triggered output feedback control problem for unmanned aerial vehicle (UAV) systems over cognitive radio (CR) networks. A periodic event-triggered scheme is proposed in the presence of CR networks. By modeling the CR network as an <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">on</small> – <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">off</small> switch, a new switched time-delay system model is developed for the event-triggered UAV. Based on the new model, the exponential stability and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> performance criteria are derived by using the constructed Lyapunov function. Then, a co-design method is proposed to obtain mode-dependent controller gains and trigger parameters simultaneously. Finally, the proposed scheme is verified by a UAV system.