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<p>This work extends an event-triggered (ET) finite-time terminal sliding mode control (TSMC) approach as an implementation method for the altitude and attitude tracking of a quadrotor-type unmanned aerial vehicle (QUAV) in the presence of disturbances. The Lyapunov technique states that the proposed control approach guarantees position and orientation tracking of the desired dynamics in finite time (FT). Additionally, to maximize the system’s overall efficiency, the control actions are executed only when necessary rather than at regular intervals. This ET condition, integrated with the TSMC technique, helps reduce computational load while maintaining effective performance. It has been demonstrated that a positive lower constraint exists for the inter-sample time to prevent Zeno behavior. The efficiency of the control scheme is investigated using numerical simulations of a quadrotor. Simulation results show that the proposed control scheme ensures FT trajectory tracking while lowering the controller’s update frequency, thus enhancing resource utilization.</p>

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Event-triggered finite time trajectory tracking control for quadrotor unmanned aerial vehicles

  • 期刊论文

  • 发表日期：

    2026年7月22日

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  • Madhumita Pal,
  • Sanjoy Mondal

摘要

This work extends an event-triggered (ET) finite-time terminal sliding mode control (TSMC) approach as an implementation method for the altitude and attitude tracking of a quadrotor-type unmanned aerial vehicle (QUAV) in the presence of disturbances. The Lyapunov technique states that the proposed control approach guarantees position and orientation tracking of the desired dynamics in finite time (FT). Additionally, to maximize the system’s overall efficiency, the control actions are executed only when necessary rather than at regular intervals. This ET condition, integrated with the TSMC technique, helps reduce computational load while maintaining effective performance. It has been demonstrated that a positive lower constraint exists for the inter-sample time to prevent Zeno behavior. The efficiency of the control scheme is investigated using numerical simulations of a quadrotor. Simulation results show that the proposed control scheme ensures FT trajectory tracking while lowering the controller’s update frequency, thus enhancing resource utilization.