Event driven model free control of quadrotor

In this paper we propose a new control approach, event driven model free control, which deals with the “tradeoff” between computational cost and system performance. The model free control scheme demands low computational resources and has high robustness, which is especially suitable for systems with complex dynamics and/or affected by disturbances. Particularly for the embedded systems, the event driven model free control demands even fewer computational resources, since the actuation is allowed only when an event is triggered. The proposed method is implemented on a quadrotor model in different realistic scenarios with disturbances and uncertainties. Under the time and event triggered schemes, the model free control is compared with the backstepping and sliding mode controls in these scenarios.