A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV. (3rd October 2018)

• Record Type: Journal Article
• Authors: Zhou, Laihong; Zhang, Juqian; Dou, Jingxin; Wen, Bangchun
• Is Part Of: International journal of adaptive control and signal processing. Volume 32:Number 12(2018)
• Page Start: 1675
• Page End: 1693
• Publication Date: 2018-10-03
• Subjects: adaptive control -- backstepping control -- fuzzy logic -- mass observer -- quadrotor UAV -- trajectory tracking; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.2937
• Languages: English
• ISSNs: 0890-6327

Abstract

SUMMARY: In this paper, a fuzzy adaptive backstepping control law that combines mass observer and fuzzy control strategy with backstepping control is developed for the trajectory tracking control of a quadrotor unmanned aerial vehicle. In the control law, the mass change disturbance to the flight control could be restrained by the mass observer to estimate the real‐time mass and correct the mass parameter of the quadrotor, and the time‐varying external disturbance to the flight control could be restrained by fuzzy compensation of the fuzzy control law. Lyapunov stability theorem is used to analyze the stability of the closed‐loop control system. Two cases of trajectory tracking numerical simulations are presented in MATLAB/SIMULINK simulation environment. In addition, the quadrotor hovering experiment was completed on the actual flight experimental system with the time‐varying disturbance from wind outdoors. The simulation and actual flight results illustrate that the proposed control strategy is effective and stable under the simulating environment and the actual environment.