期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：6
DOI：10.1177/1729881416675138
出版社：SAGE Publications
摘要：This article concerns the problem of event-triggered observer-based output feedback control of spatially distributed processes under the autonomous operation of an unmanned aerial vehicle. The specific spatially distributed process is modeled within the distributed parameter systems framework. To control the considered distributed parameter system efficiently, we first estimate the states with an observer based on the measurement information from sensors. Then, an event-triggered observer-based controller is designed, which can reduce the frequency of signal transmissions between the observer and the controller. In contrast to normal sampled-data controller that is updated periodically, the event-triggered controller is updated only when an “event” happens. Moreover, the Zeno behavior is also excluded by proving there exists a lower bound for interexecution time. Numerical simulations are finally presented to illustrate the effectiveness of the proposed control method.
关键词：Unmanned aerial vehicle ; event-triggered control ; distributed parameter system ; observer
