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Subject Keyword Abstract Author
An Event-triggered γ-sliding Mode Controller for Hovering Control of a Quadrotor with Uncertain Time-varying Mass and External Disturbance

Yeong-Cheol Um, Sang-Young Oh, and Ho-Lim Choi*
International Journal of Control, Automation, and Systems, vol. 20, no. 10, pp.3372-3382, 2022

Abstract : In this paper, we propose an event-triggered γ-sliding mode controller for the hovering control of a quadrotor system in which there are uncertain time-varying mass and external disturbance. Through the Lyapunov stability analysis, we show that the controlled states are ultimately bounded. Also, we show that there exists a positive lower bound of interexecution times with our controller. Through the experiment, we illustrate that the proposed controller yields the similar performance to the one obtained by the traditional time-triggered controller under much less triggering events.

Keyword : "Event-triggered control, external disturbance, quadrotor, uncertain time-varying mass, γ-sliding mode. "

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