A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV

摘要

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.