Improved Prescribed Performance Anti-disturbance Control for Quadrotors

Abstract In this paper, an improved prescribed performance anti-disturbance control is investigated for quadrotors suffering from lumped disturbances and constrained onboard communication resources. Relative threshold event-triggered based extended state observers are respectively established in trajectory and attitude subsystems to recover the immeasurable velocity and unknown lumped disturbances with a less sampling cost, while an explicit relationship between the upper bound of estimation errors and the design parameters of event-triggered condition is derived. With the aid of estimation results, an aperiodic sampling based output feedback trajectory tracking control law is developed by inserting a relative threshold sampler into the controller-to-actuator channel, such that an enhanced robustness can be realized without involving excessive resource occupations. Additionally, a modified prescribed performance control is proposed to regulate the transient profile of trajectory tracking with an arbitrarily small overshoot and a fast convergence rate even in face of triggering error. All closed-loop signals are proved to be ultimately uniformly bounded meanwhile Zeno phenomena can be eliminated. The effectiveness of presented algorithm is validated by comparable simulations.