Abstract
This paper investigates the problem of estimating all 12 states and lumped uncertainties for quadcopters with unknown disturbances. A novel dynamic event-triggered mechanism is proposed for the construction of extended state observers regarding quadcopters with nonlinear control gain matrix. To attenuate the undesired uncertainty oscillation in the conventional extended state observer, an improved estimation method is developed to acquire higher estimation accuracy. Apart from validating the uniform ultimate boundedness of estimation errors, the proposed scheme is also free of Zeno behaviour. Comparative experiments in simulation demonstrate the effectiveness of the proposed observer, which shows outstanding performance in state estimation and communication saving. Hardware experiments for the quadcopter are also conducted to prove the practicability of the proposed dynamic event-triggered observer.
Published Version
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