Observer-Based Event-Triggered Constraint Control for Flapping-Wing Robotic Aircraft System

摘要

This article focuses on the design of output feedback event-triggered controllers for a flapping-wing robot aircraft (FWRA) system with boundary constraints, aiming to suppress the bending and torsional deformations of the system. The dynamical equations of the FWRA are modeled using partial differential equations (PDEs). First, high-gain observers are designed to estimate the unmeasured states of the system. Second, with the use of a logarithmic barrier Lyapunov function (BLF), the boundaries of the FWRA system are constrained in their ranges. Then, combining with event-triggered mechanisms, output feedback event-triggered controllers are designed. The controllers effectively reduce the communication burden and improve the system performance. Finally, the system stability is rigorously proven through mathematical analysis, and the occurrence of the Zeno phenomenon is effectively prevented. The simulation results further validate that the proposed control method ensures the system’s stability under reasonable selection of design parameters.