NDLI: Adaptive fuzzy backstepping control for trajectory tracking of unmanned aerial quadrotor

Content Provider	IEEE Xplore Digital Library
Author	Yacef, F. Bouhali, O. Hamerlain, M.
Copyright Year	2014
Description	Author affiliation: Mechatron. Lab., Jijel Univ., Jijel, Algeria (Bouhali, O.) \|\| Productique & Robot. Lab., Centre for Dev. of Adv. Technol. (CDTA), Algiers, Algeria (Yacef, F.; Hamerlain, M.)
Abstract	This paper presents an adaptive fuzzy control strategy to solve the problem of trajectory tracking for quadrotor unmanned aerial vehicle in the presence of model parameters uncertainties and external disturbances. A fuzzy system is employed to approximate directly a model based control law developed using backstepping techniques. The adaptive laws for tuning the adjustable parameters of the fuzzy system are derived based on the Lyapunov theorem. The stability analysis of the designed adaptive fuzzy backstepping controller (AFBC) is shown by the Lyapunov theory. The proposed controller yields asymptotic tracking, robustness in the presence of external disturbances affecting the six degrees of freedom, and parameters uncertainties. It is proved that all signals in the closed-loop system are semiglobally uniformly ultimately bounded, and the tracking error converge to a small neighborhood of the origin. Numerical simulation results are provided to illustrate the good tracking performances of the proposed adaptive control approach.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	920
Ending Page	927
File Size	516581
Page Count	8
File Format	PDF
ISBN	9781479923762
DOI	10.1109/ICUAS.2014.6842341
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-27
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Backstepping Rotors Aerodynamics Vectors Stability analysis Robustness Trajectory
Content Type	Text
Resource Type	Article

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