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Related Experiment Video

Updated: Jun 27, 2026

A Protocol for Real-time 3D Single Particle Tracking
10:16

A Protocol for Real-time 3D Single Particle Tracking

Published on: January 3, 2018

Event-Triggered ESO-Based Prescribed-Time Funnel Control for Robust Trajectory Tracking of Micro Quadrotor UAVs.

Bofei Wang1,2,3, Shengsheng Wei1,2,4, Junqiang Wang1,2,3

  • 1Shanxi Key Laboratory of Graphene Sensing Materials and Devices, North University of China, Taiyuan 030051, China.

Micromachines
|June 26, 2026
PubMed
Summary

This study introduces an event-triggered extended state observer (ET-ESO)-based prescribed-time funnel control (PTFC) for micro quadrotor unmanned aerial vehicles (UAVs). The method enhances disturbance rejection and trajectory tracking while reducing control updates.

Keywords:
ESOPTFCdisturbance rejectionevent-triggered controlmicro quadrotor UAVtrajectory tracking

Related Experiment Videos

Last Updated: Jun 27, 2026

A Protocol for Real-time 3D Single Particle Tracking
10:16

A Protocol for Real-time 3D Single Particle Tracking

Published on: January 3, 2018

Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering
  • Autonomous Systems

Background:

  • Micro quadrotor unmanned aerial vehicles (UAVs) exhibit significant sensitivity to external disturbances and model uncertainties due to their inherent physical characteristics and limited computational power.
  • These limitations hinder robust performance in applications requiring precise trajectory tracking and stability.

Purpose of the Study:

  • To develop an advanced control strategy for micro quadrotor UAVs that improves disturbance rejection and trajectory tracking performance.
  • To address the challenges posed by external disturbances and model uncertainties in small-scale aerial vehicles.

Main Methods:

  • A control-oriented dynamic model for micro quadrotors was established, treating lumped disturbances from wind, aerodynamics, and parameter variations.
  • An event-triggered extended state observer (ET-ESO) was designed for disturbance estimation, coupled with a prescribed-time funnel control (PTFC) law for error constraint.
  • Lyapunov stability analysis was employed to rigorously prove the system's stability and performance guarantees.

Main Results:

  • The proposed ET-ESO-based PTFC method demonstrated effective compensation for lumped disturbances in both translational and rotational subsystems.
  • The controller successfully constrained position and attitude tracking errors within predefined boundaries, ensuring convergence within a specified time.
  • Simulations confirmed robust trajectory tracking, improved transient response, and a significant reduction in control update frequency compared to traditional methods.

Conclusions:

  • The developed event-triggered prescribed-time funnel control strategy offers a robust and efficient solution for enhancing the performance of micro quadrotor UAVs.
  • This approach effectively manages external disturbances and model uncertainties, paving the way for more reliable autonomous aerial operations.
  • The reduction in control update frequency highlights the method's potential for resource-constrained platforms.