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<p>To address the formation tracking challenge of quadrotor unmanned aerial vehicles (UAVs) under unknown disturbances, this paper proposes an event-triggered control strategy based on a novel sliding-mode surface. To achieve the desired time-constrained formation control, a predefined-time distributed state observer is first designed to estimate the required position and velocity of the quadrotor UAVs within the formation. Subsequently, a controller founded on the novel sliding-mode surface is developed to guarantee that all UAVs achieve the intended formation within the predefined time. An nonlinear expanded state observer (NESO) is employed to counteract external disturbances, coupled with adaptive parameter control to attenuate internal disturbances. To optimize network bandwidth usage among the quadrotor UAVs, an event-triggering mechanism is integrated into the sliding-mode controller. By leveraging Lyapunov functions and predefined-time stability theory, sufficient conditions are established to ensure algorithm convergence. Finally, both numerical simulations and physical UAV flight experiments validate the efficacy of the proposed methodology.</p>

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Event-triggered Control of Quadrotor UAVs Based on a Novel Sliding-mode Surface

  • 期刊论文

  • 发表日期：

    2025年9月9日

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  • Liangxia Yang,
  • Yiqing Huang

摘要

To address the formation tracking challenge of quadrotor unmanned aerial vehicles (UAVs) under unknown disturbances, this paper proposes an event-triggered control strategy based on a novel sliding-mode surface. To achieve the desired time-constrained formation control, a predefined-time distributed state observer is first designed to estimate the required position and velocity of the quadrotor UAVs within the formation. Subsequently, a controller founded on the novel sliding-mode surface is developed to guarantee that all UAVs achieve the intended formation within the predefined time. An nonlinear expanded state observer (NESO) is employed to counteract external disturbances, coupled with adaptive parameter control to attenuate internal disturbances. To optimize network bandwidth usage among the quadrotor UAVs, an event-triggering mechanism is integrated into the sliding-mode controller. By leveraging Lyapunov functions and predefined-time stability theory, sufficient conditions are established to ensure algorithm convergence. Finally, both numerical simulations and physical UAV flight experiments validate the efficacy of the proposed methodology.