On Sliding Mode based Event-Trigger Control of a Micro Arial Robot for Perching on Vertical Outdoor Structure

This article proposes an event-triggered based robust control approach for the perching application of a micro aerial robot. A finite time position tracking controller is developed. A recursive finite time stable manifold has been presented for the convergence of the error in finite time. Next, control laws for all the control inputs are derived from the designed stable sliding manifold. Furthermore, from the Lyapunov stability theory, periodic event-triggering conditions are derived to minimize resource utilization. The experimental results are presented to validate designed controller towards the application of environmental monitoring via perching of a micro aerial robot on vertical outdoor surface.