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CEAS EuroGNC 2019

Finite-time, Event-triggered Tracking Control of Quadrotors
Kaustubh Sridhar Aerospace Engineering, Indian Institute of Technology Bombay, India
Srikant Sukumar Systems and Control Engineering, Indian Institute of Technology Bombay, India
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.
Keywords: MAV flight dynamics and control; Nonlinear control
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Kaustubh Sridhar, Srikant Sukumar: Finite-time, Event-triggered Tracking Control of Quadrotors. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-043.
BibTeX entry:

@Incollection{CEAS-GNC-2019-043,
    authors = {Sridhar, Kaustubh and Sukumar, Srikant},
    title = {Finite-time, Event-triggered Tracking Control of Quadrotors},
    booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference},
    address = {Milan, Italy},
    month = apr,
    year = {2019},
    note = {CEAS-GNC-2019-043}
}