Adaptive Event-Triggered Control for Multi-Quadrotor Systems under Aperiodically Intermittent Communications

Abstract

A novel adaptive event-triggered control strategy is proposed for multi-quadrotor systems under intermittent communications, addressing the leader-follower consensus-seeking problem where the leader has an unknown bounded input. Firstly, an activation time ratio condition is proposed, eliminating the reliance on the maximum time interval of intermittent communication. Secondly, a compensation term related to the leader’s unknown bounded input is designed in the controller to compensate for the error caused by intermittent communication in each period. Meanwhile, a prediction method is developed to eliminate the dependence on continuous information of neighboring quadrotors. Zeno behavior is strictly excluded, and communication among quadrotors is efficiently reduced with the designed event-triggering condition. Finally, numerical simulations verify the effectiveness and superiority of the proposed control strategy.

Keywords

Adaptive control / Event-triggered control / Aperiodically intermittent communication / Multi-quadrotor systems

Author Contributions

Conceptualization: W.Q., Y.L. (Yueyong Lv), G.M.; Formal Analysis: W.Q., Y.L. (Yueyong Lv); Investigation: W.Q., Y.L. (Yizhi Liu), Y.L. (Yueyong Lv); Methodology: W.Q., Y.L. (Yueyong Lv), G.M.; Software: W.Q.; Supervision: W.Q., G.M.; Writing—original draft: W.Q. Writing—review & editing: W.Q., Y.L. (Yizhi Liu), Y.L. (Yueyong Lv), G.M.

Ethics Statement

Not applicable.

Informed Consent Statement

Not applicable.

Data Availability Statement

This study does not involve the use of previously published or publicly accessible datasets. All data generated for this research can be accessed at the following link: https://github.com/QinWenyu/Adaptive-ETC-for-MQSs-under-Aperiodically-Intermittent-Communications.git.

Funding

This paper is funded by Shanghai Astronautic Science and Technology Foundation (SAST2023-085) and National Natural Science Foundation (U23B6001).

Declaration of Competing Interest

The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.

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