Adaptive Event-Triggered Control for Multi-Quadrotor Systems under Aperiodically Intermittent Communications

ABSTRACT: A novel adaptive event-triggered control strategy is proposed for multi-quadrotor systems under intermittent communications, addressing the leader-follower consensus-seeking problem where the leader has an unknown bounded input. Firstly, an activation time ratio condition is proposed, eliminating the reliance on the maximum time interval of intermittent communication. Secondly, a compensation term related to the leader’s unknown bounded input is designed in the controller to compensate for the error caused by intermittent communication in each period. Meanwhile, a prediction method is developed to eliminate the dependence on continuous information of neighboring quadrotors. Zeno behavior is strictly excluded, and communication among quadrotors is efficiently reduced with the designed event-triggering condition. Finally, numerical simulations verify the effectiveness and superiority of the proposed control strategy.