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

Highlights：

• Different from the existing CFB control algorithms for QUAV, the event-triggered mechanism is integrated into the CFB design for the first time, which reduces the communication burden and ensures the robustness of the system without sacrificing the system performance. In contrast to the fixed threshold strategy in the existing literature, the usage of relative threshold strategy makes the triggering of control signals more flexible.

摘要

•Compared with asymptotic convergence results in the existing literature for QUAV, the finite-time command filtered backstepping (CFB) control algorithm is proposed, which realizes the faster response and higher tracking precision. The combination of CFB control technology and fractional power error compensated mechanism for QUAV avoids the problem of “explosion of complexity” and skillfully eliminates the filtered error simultaneously.•Different from the existing CFB control algorithms for QUAV, the event-triggered mechanism is integrated into the CFB design for the first time, which reduces the communication burden and ensures the robustness of the system without sacrificing the system performance. In contrast to the fixed threshold strategy in the existing literature, the usage of relative threshold strategy makes the triggering of control signals more flexible.

论文评审过程：Received 9 July 2021, Revised 22 November 2021, Accepted 23 December 2021, Available online 24 January 2022, Version of Record 10 March 2022.