Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer

Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer | 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 Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer Junyu Chen, Tieshan Li, Yue Long, C.L. Philip Chen This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-1763126/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 Considering the problems of unknown external disturbances and parametric uncertainties in trajectory tracking of a quadrotor, a backstepping control method based on time-varying threshold event-triggered extended state observer (TETESO) is proposed in this paper. Firstly, to facilitate the controller design, the quadrotor system is divided into the position subsystem and the attitude subsystem. Secondly, a TETESO which can observe the unmeasurable states and the total disturbance as well as reduce the unnecessary communication resources between sensor and observer is proposed. It is proved that the observation errors are bounded, and Zeno behavior is avoided. Thirdly, a new controller synthesized by the proposed TETESO and the backstepping control method is designed for the position subsystem and the attitude subsystem. To address “differential explosion” problem in backstepping control method, a nonlinear differentiator with lead compensation is used in the controller. Moreover, the stability analysis of the closed-loop system is proved and the proposed controller can ensure the ultimate Quadrotor Time-varying threshold event-triggered extended state observer Trajectory tracking Backstepping control Nonlinear differentiator Full Text 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-1763126","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":118198148,"identity":"6e8faa5d-720e-4c2b-95ce-08117988ee8f","order_by":0,"name":"Junyu Chen","email":"","orcid":"","institution":"University of Electronic Science and Technology of China","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Junyu","middleName":"","lastName":"Chen","suffix":""},{"id":118198149,"identity":"79518af8-7b77-4101-b3b0-429ed37bc00e","order_by":1,"name":"Tieshan Li","email":"","orcid":"","institution":"University of Electronic Science and Technology of China","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Tieshan","middleName":"","lastName":"Li","suffix":""},{"id":118198150,"identity":"17eb3fe5-d54e-4fa6-aa46-14de5cf5e948","order_by":2,"name":"Yue Long","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA2UlEQVRIiWNgGAWjYBACPigtBxNgbCCkhQ1KG8NUE68lsYF4Ley9h1/zttmkbzje/vzBDwYb2Q0HmJ89wKuF51yaNW9bWu6GM2cMG3sY0ow3HGAzN8CrRSLHzJi37XDuhhs5jM0MDIcTNxzgYZMgQsv/dIP7zx8CtfwnSovxY962AwkGNxgMgVoOEKGF54wZ45xzyYYzz+QYzuwxSDaeeZjNDK8WfvYe4w9vyuzk+Y4ff/DhR4WdbN/x5md4tYAskuKBs0FBxUxAPUjJxx+EFY2CUTAKRsFIBgC3qUgElaJVyQAAAABJRU5ErkJggg==","orcid":"https://orcid.org/0000-0001-7843-400X","institution":"University of Electronic Science and Technology of China","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Yue","middleName":"","lastName":"Long","suffix":""},{"id":118198151,"identity":"fdae7554-ec26-4afd-bbad-039f3b0a900c","order_by":3,"name":"C.L. Philip Chen","email":"","orcid":"","institution":"University of Electronic Science and Technology of China","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"C.L.","middleName":"Philip","lastName":"Chen","suffix":""}],"badges":[],"createdAt":"2022-06-16 02:52:36","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-1763126/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-1763126/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":23550563,"identity":"7019ecdb-14dd-4a36-ab20-f294daa13d39","added_by":"auto","created_at":"2022-07-06 18:32:07","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1283751,"visible":true,"origin":"","legend":"","description":"","filename":"NDCJY.pdf","url":"https://assets-eu.researchsquare.com/files/rs-1763126/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-1763126/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","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, Time-varying threshold event-triggered extended state observer, Trajectory tracking, Backstepping control, Nonlinear differentiator","lastPublishedDoi":"10.21203/rs.3.rs-1763126/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-1763126/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Considering the problems of unknown external disturbances and parametric uncertainties in trajectory tracking of a quadrotor, a backstepping control method based on time-varying threshold event-triggered extended state observer (TETESO) is proposed in this paper. Firstly, to facilitate the controller design, the quadrotor system is divided into the position subsystem and the attitude subsystem. Secondly, a TETESO which can observe the unmeasurable states and the total disturbance as well as reduce the unnecessary communication resources between sensor and observer is proposed. It is proved that the observation errors are bounded, and Zeno behavior is avoided. Thirdly, a new controller synthesized by the proposed TETESO and the backstepping control method is designed for the position subsystem and the attitude subsystem. To address “differential explosion” problem in backstepping control method, a nonlinear differentiator with lead compensation is used in the controller. Moreover, the stability analysis of the closed-loop system is proved and the proposed controller can ensure the ultimate","manuscriptTitle":"Trajectory tracking control for quadrotor based on time-varying threshold event-triggered extended state observer","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2022-07-06 18:32:01","doi":"10.21203/rs.3.rs-1763126/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","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}}],"origin":"","ownerIdentity":"cbcff917-e697-4a4d-9434-15541e5ed872","owner":[],"postedDate":"July 6th, 2022","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2022-07-27T09:05:11+00:00","versionOfRecord":[],"versionCreatedAt":"2022-07-06 18:32:01","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-1763126","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-1763126","identity":"rs-1763126","version":["v1"]},"buildId":"7rjqhiLT3MXkJMwkYKINL","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}