To handle the problem of target circumnavigation control considering internal uncertain-ties and external environmental perturbations,employing a cascaded control approach,an event-triggered anti-disturbance circumnavigation control method for quadrotor under circular trajectory guidance within a two-layer guidance framework based on the back-stepping method is presented.In the trajectory loop,a target position estimator which can satisfy the condition of continuous ex-citation is constructed,guaranteeing that the target estimator which meets the final uniformly bounded condition can solely obtained by means of line-of-sight azimuth angles.Subsequently,based on the estimated target position,a target circumnavigation control law is designed to gener-ate linear velocity commands,and the effectiveness of the circumnavigation control law is validated through a directional vector field,eliminating the dependence on relative positions and target ve-locities as seen in the existing Lyapunov vector field guidance(LVFG)methods.In the attitude loop,by compensating the lumped uncertainties in the system using an extended state observer(ESO),an attitude controller based on relative threshold event-triggered control is designed,which effectively reduces the signal transmission frequency between the controller and the actuators enables quadrotor to circumnavigate stationary and moving targets.Then,the stability of the system is proved utilizing the input-to-state stability theorem.Finally,simulation results demonstrate that the proposed control scheme realizes circumnavigation and surveillance of station-ary/moving targets by quadrotor under circular trajectory guidance.
Target position estimationContinuous motivationRelative threshold event triggerExtended state observer
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