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Global Trajectory Tracking for a Quadrotor through Event-Triggered Control: Synthesis, Simulations, and Experiments*
ZHU Xuan-Zhi1; Pedro Casau2; Carlos Silvestre3
2020-07-27
Conference Name2020 American Control Conference (ACC)
Source PublicationProceedings of the American Control Conference
Volume2020-July
Pages3852-3857
Conference Date1-3 July 2020
Conference PlaceDenver, CO, USA
PublisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Abstract

This paper presents an event-triggered controller that solves the problem of trajectory tracking for an aerial vehicle with a thrust actuation in a single body-fixed direction and full angular velocity actuation. Under the framework of hybrid dynamical systems, we first design a globally stabilizing hybrid control law and then derive an appropriate eventtriggering mechanism for sampling of actuation signals. We prove that bounded reference trajectories are rendered globally asymptotically stable for the closed-loop system. To enable practical implementation of the proposed event-triggered controller on digital platforms, we provide a modified event-triggering mechanism that achieves practical stability while avoiding Zeno solutions. The results are illustrated by numerical simulations and further verified by experiments.

DOI10.23919/ACC45564.2020.9147535
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000618079803122
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Corresponding AuthorZHU Xuan-Zhi
Affiliation1.Institute for Systems and Robotics, Institute Superior Técnico, Universidade de Lisboa, Lisboa, Portugal
2.Department of Electrical and Computer Engineering, Universidade de Lisboa, Lisboa, Portugal
3.Department of Electrical and Computer Engineering, University of Macau, Taipa, Macau
Recommended Citation
GB/T 7714
ZHU Xuan-Zhi,Pedro Casau,Carlos Silvestre. Global Trajectory Tracking for a Quadrotor through Event-Triggered Control: Synthesis, Simulations, and Experiments*[C]:IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2020:3852-3857.
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