Adaptive Fuzzy Tracking Control of Unmanned Quadrotor Via Backstepping

被引：0
|
作者：
Yacef, Fouad [1 ]
Bouhali, Omar [2 ]
Hamerlain, Mustapha [1 ]
机构：
[1] CDTA, Lab Prod & Robot, Algiers, Algeria
[2] Lab Mech Jijel Univ, Jijel, Algeria
来源：
2014 IEEE 23RD INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2014年
关键词：
Adaptive control; Fuzzy system; Quadrotor; Backstepping technique;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents an adaptive fuzzy control scheme for quadrotor trajectory tracking. A fuzzy system is employed to approximate 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 synthesis approach. The proposed controller yields asymptotic tracking, while keep the stability of the closed loop dynamics of the quadrotor and boundedness of approximation errors. Numerical simulation results are provided to illustrate the good tracking performance of the proposed adaptive control approach.
引用
收藏
页码：40 / 45
页数：6
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