The problem of altitude and attitude tracking problem of nonlinear quad rotor type unmanned aerial vehicles (QUAV) is addressed by dynamic event-triggered based nonsingular terminal sliding mode control (TSMC) scheme. In order to achieve fast reaching of desired trajectories in presence of unknown disturbances and uncertainties, nonsingular terminal sliding surface is defined. Moreover, the superior performance is achieved with limited resource of computation and communication channel band width by using dynamic event-triggered (DET) strategy. Fast convergence of tracking errors for the proposed control strategy is ensured via Lyapunov stability. The Zeno phenomena is proved to be excluded through precise analysis for the proposed dynamic event-triggered based TSMC scheme. The effectiveness of DET mechanism is examined over static and time triggered implementation of TSMC law for QUAV system.
Pal et al. (Wed,) studied this question.