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This study introduces a new control method for a lab helicopter, reducing data sharing while maintaining stability and improving performance. The dynamic double event-triggered anti-disturbance tracking control enhances system responsiveness.

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Area of Science:

Robotics and Control Systems
Aerospace Engineering
Applied Mathematics

Background:

Laboratory helicopter systems face challenges from external disturbances and load variations.
Efficient control strategies are needed to minimize communication load while ensuring stability.

Purpose of the Study:

To develop a novel dynamic double event-triggered anti-disturbance tracking control scheme for a 2-DOF laboratory helicopter.
To enhance control performance and reduce communication frequency under disturbances.

Main Methods:

The helicopter system is divided into independent pitch and yaw subsystems.
A discrete-time dynamic double event-triggering mechanism (DDETM) is implemented in each subsystem.
The DDETM utilizes two triggering conditions based on system states and disturbance estimation, operating competitively.

Main Results:

The proposed DDETM-based robust control method demonstrates improved communication and control performance.
Stability analysis confirms the global ultimate boundedness of the closed-loop hybrid system.
Numerical simulations validate that the control strategy reduces the event-triggering count and enhances initial dynamic performance.

Conclusions:

The developed control scheme effectively manages disturbances and load fluctuations in a 2-DOF helicopter.
The event-triggered approach optimizes communication efficiency without compromising system stability or performance.