Dynamic Double Event-Triggered Anti-Disturbance Tracking Control for a 2-DOF Small Unmanned Helicopter
针对二自由度实验室直升机，提出一种基于广义比例积分观测器的动态双事件触发抗干扰跟踪控制方法，通过两个竞争性触发条件减少通信次数并改善初始动态性能。
This article devises a new dynamic double event-triggered anti-disturbance tracking control scheme for a 2-degree of freedom (DOF) laboratory helicopter subject to external time-varying disturbances and load fluctuation by using the generalized proportional-integral observer technique. The helicopter system is separated into two subsystems in the proposed control method, i.e., the pitch subsystem and the yaw subsystem. Each subsystem includes a discrete-time dynamic double event-triggering mechanism (DDETM), and the control laws of the two subsystems are independent of each other. There are two triggering conditions in the designed double triggering mechanism: one is designed based on the system states and the other is based on the lumped disturbance estimation. These two triggering conditions form a competitive relationship such that the controller updates the control signal as long as one of the triggering conditions is satisfied. Theoretical analysis is provided for achieving the better communication and control performance of the proposed DDETM-based robust control method. Through rigorous stability analysis, it is proved that the closed-loop hybrid system is globally ultimately bounded. At last, numerical simulations show that the suggested control strategy not only reduces the event-triggering number, but also improves the initial dynamic performance of the system.