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Observer-based Adaptive Fuzzy Backstepping Tracking Control of Quadrotor Unmanned Aerial Vehicle Powered by Li-ion Battery

Authors
  • Yacef, Fouad1, 2
  • Bouhali, Omar2
  • Hamerlain, Mustapha1
  • Rizoug, Nassim3
  • 1 Centre de Développement des Technologies Avancées (CDTA), Division Productique et Robotique, Algiers, Algeria , Algiers (Algeria)
  • 2 Université de Jijel, Laboratoire MécaTronique (LMT), Jijel, Algeria , Jijel (Algeria)
  • 3 Ecole Supérieure des Techniques Aéronautiques et de Construction Automobile (ESTACA), Laval, France , Laval (France)
Type
Published Article
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer-Verlag
Publication Date
Feb 12, 2016
Volume
84
Issue
1-4
Pages
179–197
Identifiers
DOI: 10.1007/s10846-016-0345-0
Source
Springer Nature
Keywords
License
Yellow

Abstract

In this paper, an Adaptive Fuzzy Backstepping Control (AFBC) approach with state observer is developed. This approach is used to overcome the problem of trajectory tracking for a Quadrotor Unmanned Aerial Vehicle (QUAV) under wind gust conditions and parametric uncertainties. An adaptive fuzzy controller is directly used to approximate an unknown nonlinear backstepping controller which is based on the exact model of the QUAV. Besides, a state observer is constructed to estimate the states. The stability analysis of the whole system is proved using Lyapunov direct method. Uniformly Ultimately Bounded (UUB) stability of all signals in the closed-loop system is ensured. The proposed control method guarantees the tracking of a desired trajectory, attenuates the effect of external disturbances such as wind gust, and solves the problem of unavailable states for measurement. Extended simulation studies are presented to highlight the efficiency of the proposed AFBC scheme.

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