Event-triggered nonlinear control for attitude stabilization of a quadrotor

Fermi Guerrero Castellanos (1) , Jose Juan Téllez-Guzmán (1) , Sylvain Durand (2) , Nicolas Marchand (3) , Jonatan Álvarez-Muñoz (1)

1 FCE BUAP - Facultad de Ciencias de la Electrónica [Puebla]
2 LAFMIA - Laboratoire Franco-Mexicain d'Informatique et d'Automatique
3 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

Event-triggered control is a ressource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback is derived from the universal formula for event-triggered stabilization of general nonlinear systems affine in the control. The proposed feedback ensures the asymptotic stability and it is smooth everywhere except at the origin. Real-time experiments are carried out in order to show the convergence of the quadrotor states to the desired attitude as well as the robustness with respect to external disturbances. Results show that the proposed control can reduce by 80 $\%$ the communications of the embedded system without sacrificing performance of the whole system. To the best of the authors' knowledge, this is the first time that a nonlinear event-triggered controller is experimentally applied to the attitude stabilization of an unmanned aircraft system.

Mots clés: Micro- and Mini- UAS; Control Architectures; Airspace Control

Domaines: Automatique / Robotique

Fermi Guerrero Castellanos, Jose Juan Téllez-Guzmán, Sylvain Durand, Nicolas Marchand, Jonatan Álvarez-Muñoz. Event-triggered nonlinear control for attitude stabilization of a quadrotor. ICUAS 2013 - 2013 International conference on Unmanned Aircraft Systems, May 2013, Atlanta, Georgie, United States. pp.n/c. ⟨hal-00813239⟩