Adaptive Control of A Quadrotor UAV with Dynamic State Triggering: A Global Solution

In this paper, we address a novel position and attitude tracking control problem for a quadrotor unmanned aerial vehicle (UAV) utilizing a full state-triggering mechanism, while accounting for modeling uncertainties. A significant challenge arises when implementing the triggering mechanism on the sensor side, as it introduces non-differentiable virtual control signals due to the discontinuous nature of the state signals received by the controller, complicating the design of backstepping control. Distinct from existing studies in this field, our approach introduces three major advancements: 1) It facilitates global stability and provides explicit guidelines for adjusting control parameters, moving beyond the semi-global results typically achieved; 2) It ensures asymptotic convergence rather than merely achieving ultimate uniform boundedness; 3) It introduces dual-channel dynamic event-triggering mechanisms, which significantly enhance communication resource efficiency and increase the amount of information transmitted per execution interval between message transmissions. The effectiveness and superiority of the proposed event-triggered control strategy are conclusively demonstrated through a comprehensive numerical case study.