A Dynamic Event-triggered Control Method for Unmanned Aircrafts Trajectory Tracking in Low-Altitude Airspace

This paper addresses the critical challenge of trajectory tracking control for unmanned aircraft in low-altitude urban environments, where dynamic wind disturbances significantly impact flight stability and precision, under the constraint of limited onboard computational resources. We propose a novel control framework to overcome this challenge. First, urban wind disturbances are formally characterized as persistent perturbations with unbounded energy and unknown dynamics. Based on this, a two-layer control architecture is developed. The position loop utilizes a dynamic event-triggered controller, designed via the internal model principle, achieving asymptotic trajectory tracking with optimized energy consumption. The attitude loop employs an adaptive robust controller to mitigate inertial uncertainties through real-time parameter adaptation. A composite Lyapunov-based proof rigorously establishes the overall system's asymptotic stability, systematically integrating the internal model principle across both control layers. High-fidelity numerical simulations demonstrate the controller's efficacy in maintaining accurate trajectory tracking, even with concurrent wind disturbances and parametric uncertainties.