Dynamic Event-Triggered Prescribed Performance Control for Quadrotor Aggressive Flight

Aggressive flight is the central prerequisite to expanding the application of quadrotors into complex and agile tasks. Its most notable aspect is the mutation of task commands, which demands not only flight stability but also specific constraints on the quadrotor's dynamics performance, such as convergence speed and overshoot. Although traditional prescribed performance control (PPC) methods are highly anticipated, system divergence may occur when tracking errors exceed bounds during command mutations to the quadrotor. This paper proposes a dynamic event-triggered PPC flight controller, that overcomes this limitation and improves the quadrotor's response and convergence speed to sudden command mutations, while also suppressing over-shoot. Stability analysis was completed, and the motivation behind the study was confirmed through simulation.