Distributed event-triggered adaptive fuzzy finite-time control for multiple QUAVs with time-varying state constraints

Abstract

In this article, a distributed event-triggered finite-time adaptive fuzzy attitude and altitude control is developed for the multiple quadrotor unmanned aerial vehicles (QUAVs) with asymmetric time-varying state constraints and unknown external disturbances. By constructing the asymmetric time-varying barrier Lyapunov functions, all the state constraints of the QUAVs are not exceeded. The finite-time command filters are adopted to deal with the explosion of complexity problem from backstepping. Based on the relative threshold algorithm, the distributed event-triggered adaptive attitude and altitude controller is developed by establishing the communication mechanism between the QUAVs and the virtual leader to reduce the communication burden, in which a disturbance observer is designed to compensate the complex disturbance composed of fuzzy approximation error and external disturbance. Finally, simulation results verify the effectiveness of the distributed scheme for the QUAVs.