Adaptive Event-Triggered-Based Consensus Control for QUAV Formation System with External Disturbances and State Constraints

In this work, an adaptive event-triggered-based consensus control strategy is proposed for the quadrotor unmanned aerial vehicle (QUAV) formation system in the presence of external disturbances and state constraints. Firstly, the disturbed QUAV formation system dynamic model is established. Then, to address the initial peaking explosion problem in the traditional active disturbance rejection control method, a time-varying gain extended state observer (TGESO) is designed to suppress external disturbances. Meanwhile, a novel barrier Lyapunov function (BLF) is constructed to cope with the adverse effects caused by state constraints. Furthermore, aiming to alleviate network congestion and reduce communication burden, the adaptive event-triggered mechanism (AETM) is adopted to design the formation flight controller. Finally, the stability of the developed consensus controller and the boundedness of all error signals are proved via Lyapunov theory. Comparative simulation results demonstrate the practicality of the presented control algorithm.