An Event-triggered gamma-sliding Mode Controller for Hovering Control of a Quadrotor with Uncertain Time-varyino Mass and External Disturbance

摘要

In this paper, we propose an event-triggered gamma-sliding mode controller for the hovering control of a quadrotor system in which there are uncertain time-varying mass and external disturbance. Through the Lyapunov stability analysis, we show that the controlled states are ultimately bounded. Also, we show that there exists a positive lower bound of interexecution times with our controller. Through the experiment, we illustrate that the proposed controller yields the similar performance to the one obtained by the traditional time-triggered controller under much less triggering events.