Event-triggered attitude control for flying robots using an event approach based on the control

Abstract

This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter. The experiments show that the event driven controller reduces the control update without deteriorating the closed-loop system performance. I. INTRODUCTION Flying robots and Unmanned Aerial Vehicles (UAVs) have received growing interest in industrial and academic research. They may prove useful for many civilian missions. Furthermore, among miniature rotorcraft-based UAVs, the mini quadrotor helicopter gives rise to great interest because of its high manoeuvrability, its payload capacity and its ability to hover, as explained in [1]. Such a Vertical TakeOff and Landing (VTOL) vehicle has some advantages over conventional helicopters: owing to symmetry, it is relatively simple to design and construct. In fact, the quadrotor is an under-actuated dynamic system with four input forces and six output coordinates (attitude and position). However, this system can be broken down into two subsystems, one defining the translation movement and the other one the rotation movement. These subsystems are coupled in cascade since the translational subsystem depends on the rotational one, but the rotational subsystem is independent of the translational one. Self-governing flights require the generation of low-level control signals sent to actuators as well as decision-making related to guidance, navigation. Low-level flight control is known as attitude control and it is responsible for maintaining the desired vehicle orientation. Consequently, the attitude controller design is, in itself, a challenge. Some linear and nonlinear control techniques have been applied for the attitude stabilization of the quadrotor, like for example in [2], [3], [4], [5], [6], [7], [8].

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“…Besides, this definition of the triggering condition implies an "event-triggered scheme based on the control" [33].…”

Distributed Control for Cooperative Manipulation With Event-Triggered Communication

“…Various canonical problems in the area of multi-agent systems are solved in event-triggered fashion for simple agent dynamics (single/double integrator, linear) [19]- [21]. Nonlinear agent dynamics in multi-agent systems are considered in [22], [23] and an event-triggered control law, considering the nonlinear dynamics of flying robots, is proposed in [24]. As a special case of non-linear systems, Euler-Lagrange systems are recently considered in the context of event-triggered control [25]- [28].…”

Event‐triggered global trajectory tracking control of a quadrotor: Synthesis, simulations, and experiments

“…Téllez‐Guzmán et al 19 designed an event‐based LQR control strategy, derived from the results for nonlinear affine control systems, 20 for linearized attitude dynamics of a quadrotor that achieves local asymptotic stability. Similar ideas have also been applied in the design of event‐triggered quaternion‐based feedback laws that locally asymptotically stabilize a quadrotor around a desired fixed attitude while avoiding Zeno solutions 21,22 . A distributed event‐triggered hybrid controller for leader–follower flocking for multiple quadrotors while avoiding Zeno solutions, 23 which can be identified as a position stabilization problem.…”