The Event-Triggered Sliding Mode Control for a QUAV Based on a Disturbance Observer

The sliding mode control is developed in this study for quadrotor unmanned aerial vehicles (QUAVs) that are vulnerable to unknown external disturbances and limited communication resources. To suppress the adverse effects of disturbances on the system, a disturbance observer is developed. Then the sliding mode controller for QUAVs is designed. This system also uses an event-triggered approach to address the issue of constrained communication resources. The Lyapunov method, which guarantees the convergence of all control signals, is used to analyse the stability of the control system. Finally, to illustrate the effectiveness of the control techniques, the simulation results are presented.