{"paper_id":"1e6bcadb-c5d5-4373-979e-092e70d356b2","body_text":"From Time-Triggered to Self-Triggered: Comparative Perspectives on Perching Quadrotor Control Policies | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article From Time-Triggered to Self-Triggered: Comparative Perspectives on Perching Quadrotor Control Policies sandeep gupta This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7477739/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract INTRODUCTION: Event-triggered controllers are widely recognized for ensuring stability in sampled-data systems while minimizing resource utilization. OBJECTIVES: The purpose of this survey is to present the state-of-the-art in event-triggered sliding mode control and to acquaint readers with the major design techniques, along with their respective advantages and limitations. METHODS: Several event-triggered SMC strategies are applied to the perching quadrotor control problem. RESULTS: A comprehensive qualitative and quantitative comparison of these methods is provided. CONCLUSION: Among the evaluated policies, self-triggered control consistently outperforms other variants. Finally, key challenges and future research directions for perching quadrotor control are discussed. Robotics Quadrotor perching Wall-climbing aerial robot Sliding mode control Event-triggered control UAV–environment interaction Structural health monitoring Contact-based inspection Micro aerial vehicle (MAV) Full Text Additional Declarations The authors declare no competing interests. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {\"props\":{\"pageProps\":{\"initialData\":{\"identity\":\"rs-7477739\",\"acceptedTermsAndConditions\":true,\"allowDirectSubmit\":true,\"archivedVersions\":[],\"articleType\":\"Research Article\",\"associatedPublications\":[],\"authors\":[{\"id\":506768276,\"identity\":\"74695623-5d28-4c55-a565-2a630298b2a2\",\"order_by\":0,\"name\":\"sandeep gupta\",\"email\":\"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAyElEQVRIiWNgGAWjYBADOTZmBmYwi404DQkMxmzMzCRqSWxggGohCORnt1+TLvxhl97Hzn/YgKHGjoFPugG/FoM7Z8qkZyQk57YBHZbAcCyZgU3mAAEtEjlp0jwJzGAtBxjYgEgigYDDZoC11KezgbX8I0ILw430Y0AthxNAWhIY24jQYnAjh9l6RtpxQ6DDjA0S+5J5iHBY+sPbBTbV8vL9Bx9LfPhmJyc/g5DDGHgMEPEBVMxDSD0QsD8gMgpHwSgYBaNgxAIAl6Ey+B18VJoAAAAASUVORK5CYII=\",\"orcid\":\"https://orcid.org/0000-0001-9876-8859\",\"institution\":\"indian institute of technology kanpur\",\"correspondingAuthor\":true,\"prefix\":\"\",\"firstName\":\"sandeep\",\"middleName\":\"\",\"lastName\":\"gupta\",\"suffix\":\"\"}],\"badges\":[],\"createdAt\":\"2025-08-28 08:06:21\",\"currentVersionCode\":1,\"declarations\":{\"humanSubjects\":false,\"vertebrateSubjects\":false,\"conflictsOfInterestStatement\":false,\"humanSubjectEthicalGuidelines\":false,\"humanSubjectConsent\":false,\"humanSubjectClinicalTrial\":false,\"humanSubjectCaseReport\":false,\"vertebrateSubjectEthicalGuidelines\":false},\"doi\":\"10.21203/rs.3.rs-7477739/v1\",\"doiUrl\":\"https://doi.org/10.21203/rs.3.rs-7477739/v1\",\"draftVersion\":[],\"editorialEvents\":[],\"editorialNote\":\"\",\"failedWorkflow\":false,\"files\":[{\"id\":90151194,\"identity\":\"5e25fff0-49a0-4106-9eeb-9cf037e64780\",\"added_by\":\"auto\",\"created_at\":\"2025-08-29 07:11:14\",\"extension\":\"pdf\",\"order_by\":1,\"title\":\"\",\"display\":\"\",\"copyAsset\":false,\"role\":\"manuscript-pdf\",\"size\":336874,\"visible\":true,\"origin\":\"\",\"legend\":\"\",\"description\":\"\",\"filename\":\"EAIEndorsedTransactionsB.pdf\",\"url\":\"https://assets-eu.researchsquare.com/files/rs-7477739/v1_covered_c0049cbd-ca60-4c4a-89a2-6f36979e7099.pdf\"}],\"financialInterests\":\"The authors declare no competing interests.\",\"formattedTitle\":\"\\u003cp\\u003eFrom Time-Triggered to Self-Triggered: Comparative\\u003c/p\\u003e\\n\\u003cp\\u003ePerspectives on Perching Quadrotor Control Policies\\u003c/p\\u003e\",\"fulltext\":[],\"fulltextSource\":\"\",\"fullText\":\"\",\"funders\":[],\"hasAdminPriorityOnWorkflow\":false,\"hasManuscriptDocX\":false,\"hasOptedInToPreprint\":true,\"hasPassedJournalQc\":\"\",\"hasAnyPriority\":true,\"hideJournal\":true,\"highlight\":\"\",\"institution\":\"\",\"isAcceptedByJournal\":false,\"isAuthorSuppliedPdf\":true,\"isDeskRejected\":\"\",\"isHiddenFromSearch\":false,\"isInQc\":false,\"isInWorkflow\":false,\"isPdf\":true,\"isPdfUpToDate\":true,\"isWithdrawnOrRetracted\":false,\"journal\":{\"display\":true,\"email\":\"info@researchsquare.com\",\"identity\":\"researchsquare\",\"isNatureJournal\":false,\"hasQc\":true,\"allowDirectSubmit\":true,\"externalIdentity\":\"\",\"sideBox\":\"\",\"snPcode\":\"\",\"submissionUrl\":\"/submission\",\"title\":\"Research Square\",\"twitterHandle\":\"researchsquare\",\"acdcEnabled\":true,\"dfaEnabled\":false,\"editorialSystem\":\"\",\"reportingPortfolio\":\"\",\"inReviewEnabled\":false,\"inReviewRevisionsEnabled\":true},\"keywords\":\"Quadrotor perching,Wall-climbing aerial robot,Sliding mode control,Event-triggered control, UAV–environment interaction, Structural health monitoring, Contact-based inspection, Micro aerial vehicle (MAV)\",\"lastPublishedDoi\":\"10.21203/rs.3.rs-7477739/v1\",\"lastPublishedDoiUrl\":\"https://doi.org/10.21203/rs.3.rs-7477739/v1\",\"license\":{\"name\":\"CC BY 4.0\",\"url\":\"https://creativecommons.org/licenses/by/4.0/\"},\"manuscriptAbstract\":\"\\u003cp\\u003eINTRODUCTION: Event-triggered controllers are widely recognized for ensuring stability in sampled-data systems while minimizing resource utilization.\\u003c/p\\u003e\\n\\u003cp\\u003eOBJECTIVES: The purpose of this survey is to present the state-of-the-art in event-triggered sliding mode control and to acquaint readers with the major design techniques, along with their respective advantages and limitations.\\u003c/p\\u003e\\n\\u003cp\\u003eMETHODS: Several event-triggered SMC strategies are applied to the perching quadrotor control problem.\\u003c/p\\u003e\\n\\u003cp\\u003eRESULTS: A comprehensive qualitative and quantitative comparison of these methods is provided.\\u003c/p\\u003e\\n\\u003cp\\u003eCONCLUSION: Among the evaluated policies, self-triggered control consistently outperforms other variants. 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