Finite-Time Adaptive Fuzzy Quantized Control for a Quadrotor UAV
作者： Wei Yang , Guozeng Cui , Jinpeng Yu , Chongben Tao , Ze Li
DOI: 10.1109/ACCESS.2020.3027854
关键词:
摘要: In this paper, a finite-time command filtered backstepping (FTCFB) adaptive trajectory tracking control strategy is proposed for quadrotor unmanned aerial vehicle (UAV) with quantized inputs and external disturbances. For the position subsystem attitude subsystem, filter introduced to faster approximate derivative of virtual signal, which can effectively avoid problem explosion complexity inherent in traditional design procedure. The fractional order error compensation mechanism designed remove error, it further improves performance. From Lyapunov stability theory, boundedness all signals closed-loop system rigorously proved, errors converge small neighborhood origin finite-time. Finally, numerical example conducted intuitively show validity developed scheme.
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