Attitude control of a four-rotor drone based on event triggering

In order to solve the problems of unknown external interference and limited internal communication in the flight of four-rotor UAV, an attitude control algorithm based on event triggering is proposed. Firstly, a nonlinear interference observer is designed to deal with unknown external interference. Then the controller is designed based on the output of the interference observer and the sliding mode control algorithm. The controller is updated to the actuator only when the event is triggered. Lyapunov function is used to prove the stability of the system, and the effectiveness of the proposed algorithm is verified by simulation.