This paper presents an adaptive event-triggered based robust trajectory tracking strategy for constrained quadrotor unmanned aerial vehicle (QUAV) with external disturbance, input delay, and input saturation. Firstly, the nonlinear disturbance observer is designed to estimate the disturbance in both position and attitude loops. Then, in order to remove the adverse effects of input delay and input saturation, Padé approximation and parameter adaptive methods are applied. On this basis, a backstepping-based robust controller is presented to realize trajectory tracking control. In addition, an adaptive event-triggered mechanism is implemented in the attitude loop to reduce the signal transmission burden. Finally, Lyapunov theorem-based stability analysis and simulation tests for QUAV system are provided to verify the reliability of the proposed tracking control strategy.
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