Event-Triggered LADRCs for the Coaxial Tilt Rotor UAV

In this paper, a class of novel event-triggered linear active disturbance rejection controllers (ELADRCs) are proposed for attitude and position control of coaxial tilt rotor unmanned aerial vehicle (CTRUAV). First, the dynamic model is established on the basis of coordinate transformation, control allocation and Newton-Euler equation. Then, the event-triggered mechanism is introduced into the design of active disturbance rejection controllers. Subsequently, the input-to-state stability is addressed for the event-triggered linear extended state observer. Finally, simulation results demonstrate the effectiveness of the proposed method, which can effectively reduce the resource of data communication while ensuring the control performance.