Event-triggered obstacle avoidance tracking control of quadrotor unmanned aerial vehicle

This article addresses the safe tracking control problem of quadrotor unmanned aerial vehicles (QUAV) considering uncertain aerodynamics and unknown external disturbances. First, a robust adaptive backstepping controller is designed, where the bias of the control variable, that is, the tracking error of the attitude subsystem, is considered in the design process of the position subsystem. Meanwhile, the safe obstacle avoidance objective is realized by the quadratic programming (QP) method that combines the tracking controller with the exponential control barrier function (ECBF). Furthermore, an event-triggered mechanism is used for the QP process to conserve computing resources. Simulation validates the feasibility and superiority of the proposed control scheme in presence of multi-obstacle.