Attitude control for micro-vehicle based on fuzzy adaptive algorithm

A fuzzy adaptive control algorithm for a class of uncertain nonlinear systems based on Lyapunov's stability theory is proposed. The main idea of the algorithm is that the system is divided into a nominal model and the lumped disturbance terms, which are composed of modeling error, parameter uncertainties, disturbances and unmodeled dynamics. Fuzzy adaptive control is adopted to approach every uncertain parameter of the system in real time, and robust feedback control is introduced to eliminate the external disturbances. Resultingly, every uncertain parameter of the input coefficient matrix and the function vector in the system is approached. The control precision and robustness are improved, the on-line computation is decreased correspondingly, and the output of the nonlinear system is tracked gradually. The stability is proved and the algorithm is applied to the attitude control of a micro-vehicle. The simulation result verifies the effectiveness of the proposed method.