Observer-based and funnel-based predefined-time event-triggered adaptive formation tracking control for multiple quadrotors

This paper designs a predefined-time event-triggered formation control (PEFC) scheme for multiple quadrotors with unknown external disturbances. In the position system, the designed predefined-time distributed state observer (PTDSO) is utilized to estimate the virtual leader's states. Based on these estimates, a predefined-time distributed adaptive position controller (PTDAPC) is designed to ensure each quadrotor tracks leader's trajectory within a predefined time. To enhance the attitude tracking performance, a funnel-based predefined-time distributed adaptive attitude controller (PTDAAC) is introduced in the attitude system, ensuring that the attitude tracking error remains within a funnel boundary. To improve the efficiency of resource utilization, the design process of position and attitude controllers incorporate an event-triggered (ET) mechanism, which saves system energy consumption and decreases the count of controller updates. Finally, the validity of the devised PEFC scheme is demonstrated via simulation experiments.