An event-triggered-based (ETB) discrete-time neural control is studied for a quadrotor unmanned aerial vehicle (UAV) with external disturbances and input saturation by using the discrete-time disturbance observer (DTDO). First, the ETB mechanism of the neural network is given and the Sigmoid-type function is employed to tackle the problem of input saturation. Then, the DTDO is designed and the saturation function is utilized to ensure the boundedness of virtual control signal. Combining the discrete-time tracking differentiator and the backstepping technology, the stability of the closed-loop system is analyzed. Finally, the experiment results of the quadrotor UAV system are given to illustrate the feasibility of the proposed control scheme.

中文翻译：

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基于扰动观测器的基于事件触发的四旋翼无人机离散神经控制

通过使用离散时间干扰观测器（DTDO）研究了具有外部干扰和输入饱和的四旋翼无人机（UAV）的基于事件触发的（ETB）离散时间神经控制。首先，给出了神经网络的ETB机制，并采用了Sigmoid型函数来解决输入饱和的问题。然后，设计了DTDO，并利用饱和度函数来确保虚拟控制信号的有界性。结合离散时间跟踪微分器和反推技术，分析了闭环系统的稳定性。最后，给出了四旋翼无人机系统的实验结果，说明了该控制方案的可行性。