Event-Triggered Tracking Control for a Flapping-Wing Aerial Vehicle With Prescribed Performance

This article proposes an adaptive prescribed performance control scheme utilizing an event-triggered mechanism for a flapping wing aerial vehicle to address communication constraints and position tracking error constraints. Flapping wing aerial vehicles confront unique control challenges due to their complex dynamics and inherent instability. To address these, the proposed scheme manages a transition from initially unconstrained to constrained position tracking errors, accommodating the practical need for unconstrained operation during initial flight phases. An intermediate performance function is introduced to derive a control solution that respects tracking error constraints, while a relative threshold event-triggered mechanism optimizes communication resource utilization. Simulation results validate the feasibility of this control methodology.