Robust Output Feedback Tracking Control for Quadrotors Using Intermittent Measurement

In this paper, a robust event-triggered trajectory following control strategy is devoted for quadrotors with uncertainties, in which the intermittent system output is used to design backstepping controller. For the convenience of control design, the under-actuated quadrotor is decoupled into translation subsystem and rotation subsystem. By introducing the first-order filter and compensation method, we solve the problem that the differential of virtual control laws is undefined resulting from event-triggering. Besides, the finite time extended state observers (FTESO) are designed to simultaneously reconstruct the inaccessible velocity and lumped disturbance. With the proposed event-triggered backstepping control, all error signals are ensured the asymptotical stability. Simulations are given to substantiate the feasibility of the proposed algorithms.