Finite-time adaptive event-triggered command filtered backstepping control for a QUAV

Abstract

In this paper, the problem of event-triggered finite-time trajectory tracking control for a quadrotor unmanned aerial vehicle (QUAV) is studied. For the translation and rotation subsystems of QUAV, the finite-time command filter can make the derivative of virtual control signals be quickly approximated, and the effect of filtered error is eliminated by constructing the fractional power error compensated mechanism. By synthesizing command filter technique and event-triggered mechanism into the framework of backstepping design procedure, the finite-time adaptive control strategy for a QUAV is proposed, which reduces the resource occupation and maintains the stability and performance. It is proved that the position and attitude tracking errors can converge to a small neighborhood near the origin in a finite time. Finally, the availability and superiority of the proposed finite-time algorithm are verified by a comparative simulation.