Event-triggered attitude control for flying robots using an event approach based on the control

  • Guerrero Castellanos Jose Fermi
  • Marchand Nicolas
  • Durand Sylvain
  • Vega-Alonzo A
  • Téllez-Guzmán J. J.


This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter. The experiments show that the event driven controller reduces the control update without deteriorating the closed-loop system performance.