Event-Triggered ESO-Based Prescribed-Time Funnel Control for Robust Trajectory Tracking of Micro Quadrotor UAVs

Micro quadrotor unmanned aerial vehicles (UAVs) are highly sensitive to external disturbances and model uncertainties because of their small mass, low moment of inertia, and limited onboard computational resources. To improve the disturbance rejection and trajectory tracking performance of micro quadrotor UAVs, this paper proposes an event-triggered extended state observer (ET-ESO)-based prescribed-time funnel control (PTFC) method. First, a control-oriented dynamic model of the micro quadrotor is established, in which wind disturbances, unmodeled aerodynamic effects, damping uncertainties, and parameter perturbations are represented as lumped disturbances in the translational and rotational subsystems. Then, two event-triggered ESOs are designed to estimate the lumped disturbances of the velocity and angular velocity channels. Compared with conventional continuously sampled ESO schemes, the proposed event-triggered mechanism reduces the frequency of sensor-to-controller information transmission while preserving disturbance estimation capability. Furthermore, a prescribed-time funnel control law is developed to constrain the position and attitude tracking errors within predefined performance boundaries and ensure convergence to the desired accuracy region within a user-specified time. Lyapunov-based stability analysis is provided to prove the boundedness of all closed-loop signals and the validity of the prescribed funnel constraints. Finally, MATLAB/Simulink simulations based on the Parrot Mambo mini-drone parameters are conducted to verify the effectiveness of the proposed method. The results demonstrate that the proposed controller achieves robust trajectory tracking, effective disturbance compensation, improved transient performance, and reduced control update frequency.