Communication-Efficient Optimal-Based Control of a Quadrotor UAV by Event-Triggered Mechanism

摘要

This paper presents an application of an LQR- based event-triggered method for position control of a quadrotor UAV. Performance comparison of the developed LQR with and without event-triggered update strategies is evaluated within the context of quadrotor UAV position control. Simulation results are presented to illustrate the trade-off between efficiency improvement in communication system resource utilization and graceful degradation of the system's performance which occurs when implementing the proposed event-triggered LQR position controller.