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Event-triggered attitude control for flying robots using an event approach based on the control

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Abstract

This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter. The experiments show that the event driven controller reduces the control update without deteriorating the closed-loop system performance.
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Dates and versions

hal-01171459 , version 1 (03-07-2015)

Identifiers

  • HAL Id : hal-01171459 , version 1

Cite

Jose Fermi Guerrero Castellanos, Nicolas Marchand, Sylvain Durand, A Vega-Alonzo, Jose Juan Téllez-Guzmán. Event-triggered attitude control for flying robots using an event approach based on the control. EBCCSP 2015 - 1st IEEE Conference on Event-Based Control Communication and Signal Processing, Jun 2015, Krakow, Poland. ⟨hal-01171459⟩
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