Event-Triggered Controller Design for Autopilot with Input Saturation

<div>Body-fixed frame <svg height="11.8174pt" id="M46" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 44.4043 11.8174" width="44.4043pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z"></path></g><g transform="matrix(.013,0,0,-0.013,15.932,0)"><path d="M699 369C699 549 575 666 407 666C186 666 23 488 23 278C23 101 145 -16 312 -16C535 -16 699 153 699 369ZM600 373C600 210 500 19 321 19C186 19 120 129 120 272C120 450 232 631 399 631C541 631 600 522 600 373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,24.993,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z"></path></g><g transform="matrix(.013,0,0,-0.013,31.044,0)"><path d="M640 650H413L406 622L438 617C475 611 483 605 463 571C422 503 346 400 296 333C264 403 215 529 199 575C189 604 191 614 228 618L262 622L271 650H30L23 622C90 615 97 609 119 553L212 321C222 295 223 285 218 259L193 127C176 39 167 33 82 28L76 0H350L356 28C266 36 257 40 275 127L303 266C308 290 314 302 328 322C396 418 454 493 498 546C551 610 565 616 631 622L640 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,38.155,3.132)"><path d="M598 511C598 627 497 650 401 650H141L131 618C219 611 222 606 210 538L130 119C117 43 108 39 25 32L18 0H236C324 0 396 5 456 30C531 59 585 119 585 193C585 285 520 331 428 351V353C529 373 598 423 598 511ZM502 508C502 418 431 368 330 368H263L298 559C303 584 308 595 317 600C329 608 345 612 369 612C428 612 502 595 502 508ZM483 197C483 95 404 39 309 39C225 39 206 58 219 139L256 330H317C395 330 483 301 483 197Z"></path></g></svg> and earth-fixed frame <span class="nowrap"><svg height="11.8174pt" id="M47" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 44.8153 11.8174" width="44.8153pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M615 650H141L132 618C223 612 227 607 212 526L136 123C122 42 112 38 27 32L18 0H522C539 33 580 135 592 166L558 179C536 139 512 100 486 75C454 48 420 41 345 41C287 41 252 42 237 55C221 68 220 100 231 158L261 316H357C455 316 455 309 455 235H489L529 437H494C468 366 460 360 369 360H269L305 565C315 609 316 611 357 611H450C525 611 535 599 548 578C559 556 561 526 560 482L595 486L615 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,16.069,0)"><path d="M699 369C699 549 575 666 407 666C186 666 23 488 23 278C23 101 145 -16 312 -16C535 -16 699 153 699 369ZM600 373C600 210 500 19 321 19C186 19 120 129 120 272C120 450 232 631 399 631C541 631 600 522 600 373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,25.13,3.132)"><path d="M615 650H141L132 618C223 612 227 607 212 526L136 123C122 42 112 38 27 32L18 0H522C539 33 580 135 592 166L558 179C536 139 512 100 486 75C454 48 420 41 345 41C287 41 252 42 237 55C221 68 220 100 231 158L261 316H357C455 316 455 309 455 235H489L529 437H494C468 366 460 360 369 360H269L305 565C315 609 316 611 357 611H450C525 611 535 599 548 578C559 556 561 526 560 482L595 486L615 650Z"></path></g><g transform="matrix(.013,0,0,-0.013,31.318,0)"><path d="M640 650H413L406 622L438 617C475 611 483 605 463 571C422 503 346 400 296 333C264 403 215 529 199 575C189 604 191 614 228 618L262 622L271 650H30L23 622C90 615 97 609 119 553L212 321C222 295 223 285 218 259L193 127C176 39 167 33 82 28L76 0H350L356 28C266 36 257 40 275 127L303 266C308 290 314 302 328 322C396 418 454 493 498 546C551 610 565 616 631 622L640 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,38.429,3.132)"><path d="M615 650H141L132 618C223 612 227 607 212 526L136 123C122 42 112 38 27 32L18 0H522C539 33 580 135 592 166L558 179C536 139 512 100 486 75C454 48 420 41 345 41C287 41 252 42 237 55C221 68 220 100 231 158L261 316H357C455 316 455 309 455 235H489L529 437H494C468 366 460 360 369 360H269L305 565C315 609 316 611 357 611H450C525 611 535 599 548 578C559 556 561 526 560 482L595 486L615 650Z"></path></g></svg>.</span></div>

Mathematical Problems in Engineering

fig1

Figure 1

Figure 1: Event-Triggered Controller Design for Autopilot with Input Saturation 