Adaptive fuzzy tracking control of unmanned quadrotor via backstepping

Author

Yacef, Fouad ; Bouhali, Omar ; Hamerlain, Mustapha

Author_Institution

Lab. of Productique & Robot., CDTA, Algiers, Algeria

fYear

2014

fDate

1-4 June 2014

Firstpage

40

Lastpage

45

Abstract

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.

Keywords

adaptive control; autonomous aerial vehicles; closed loop systems; control system synthesis; fuzzy control; helicopters; mobile robots; stability; trajectory control; Lyapunov synthesis approach; adaptive control approach; adaptive fuzzy tracking control; adjustable parameter tuning; approximation error; asymptotic tracking; backstepping techniques; closed loop dynamics; model based control law; quadrotor trajectory tracking; stability; unmanned quadrotor; Adaptation models; Approximation methods; Backstepping; Fuzzy systems; Stability analysis; Trajectory; Vectors; Adaptive control; Backstepping technique; Fuzzy system; Quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics (ISIE), 2014 IEEE 23rd International Symposium on

Conference_Location

Istanbul

Type

conf

DOI

10.1109/ISIE.2014.6864583

Filename

6864583