Considering the problems of unknown external disturbances and parametric uncertainties in trajectory tracking of a quadrotor, a backstepping control method based on time-varying threshold event-triggered extended state observer (TETESO) and a nonlinear differentiator with lead compensation is proposed in this paper. First, to facilitate the controller design, the quadrotor system is divided into the position subsystem and the attitude subsystem, which are transformed into the original cascaded dynamics. Second, a TETESO which can observe the unmeasurable states and the total disturbance as well as reduce the unnecessary communication resources between sensor and observer is proposed. It is proved that the observation errors are bounded, and Zeno behavior is avoided. Third, a new controller synthesized by the proposed TETESO and the backstepping control method is designed for the position subsystem and the attitude subsystem. To address the “differential explosion” problem in the backstepping control method, a nonlinear differentiator with lead compensation is used to compute the derivative of desired attitudes in the controller. Moreover, the stability analysis of the closed-loop system is proved and the proposed controller can ensure the ultimate boundedness of all signals. Finally, the effectiveness and superiority of the proposed control method are verified by simulation.
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