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This paper presents an event‐triggered controller that solves the problem of trajectory tracking for an aerial vehicle with thrust actuation in a single body‐fixed direction and full angular velocity actuation. Firstly, we design a globally stabilizing hybrid controller and then, using the framework of hybrid dynamical systems, we derive an appropriate event‐triggering mechanism for sampling actuation signals. We prove the global asymptotic stability of a zero tracking error set for the closed‐loop system. For practical implementation of the proposed event‐triggered controller on digital platforms, we restrict the event‐triggering condition and inflate the zero tracking error set to avoid Zeno solutions while achieving global asymptotic stability of the inflated set for the closed‐loop system. The results are illustrated by numerical simulations and further verified by experiments. [ABSTRACT FROM AUTHOR]

Summary: This article proposes a general framework for analyzing continuous‐time systems controlled by event‐triggered algorithms. Closed‐loop systems resulting from using both static and dynamic output (or state) feedback laws that are implemented via asynchronous event‐triggered techniques are modeled as hybrid systems given in terms of hybrid inclusions. Using recently developed tools for robust stability, properties of the proposed models, including stability of compact sets, robustness, and Zeno behavior of solutions are addressed. The framework and results are illustrated by several event‐triggered strategies available in the literature, and observations about their key dynamical properties are made. [ABSTRACT FROM AUTHOR]

In this paper, we address the problem of designing a control law based on sensor measurements that provides global asymptotic stabilization to a reference trajectory defined on the SE.3/ R6. The proposed control law is a function of the angular velocity, of vector measurements characterizing the position of some given landmarks, and of their rate of change. We provide sufficient conditions for the existence of synergistic potential functions on SO.3/ which are pivotal in the generation of a suitable hybrid control law. We also provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with a continuous feedback control law. [ABSTRACT FROM AUTHOR]