Adaptive Attitude Control for QUAVs Using Event-Triggered Control and Optimized Quantized Communication with Prescribed Performance

Abstract

This paper proposes an appointed-time prescribed performance adaptive attitude controller with an event-triggered (ET) mechanism and optimized quantized communication for quadrotor unmanned aerial vehicles (QUAVs) in an uncertain environment. An appointed-time prescribed performance function is first designed to improve the convergence performance of attitude tracking errors considering different convergence time requirements and the convergence rate. In addition, to reduce the communication burden, a switching threshold ET mechanism and an optimized hybrid quantizer are adopted by using the K-means method. The ET mechanism not only involves the fixed threshold but also refers to the change rate of calculated control law flexibly and predictively. The optimized hybrid quantizer creatively classifies signals by their value and maximizes the advantage of each quantization method to reduce excessive quantization errors. It is shown that the proposed control scheme ensures that the closed-loop signals are uniformly ultimately bounded according to the Lyapunov method. Finally, the simulation experiments are implemented on a QUAV to demonstrate the effectiveness of the presented control scheme.