Fuzzy Uncertainty Observer Based Robust Adaptive Trajectory Tracking Control Of A Quadrotor

The quadrotor has been widely used in military and civil depended on the advantages of simple structure,flexible control,low cost etc.,and become a hot research topic at present.The quadrotor study will have great challenges and practical significance.In this context,a fuzzy uncertainty observer based robust adaptive trajectory tracking control of a quadrotor has been proposed in this paper.Firstly,the dynamic model of the quadrotor with actuator dynamics including the propeller and servo motor dynamics has been established,which provides more practical significance model foundation for the trajectory tracking control of a complex quadrotor and make its theoretical research more practical value.Secondly,an adaptive dynamic surface control scheme of the quadrotor has been proposed in this paper.The derivatives of the virtual control signals are avoided by employing some first-order filters.Adaptive uncertainty compensators for unknown nonlinearities including unknown external disturbances and uncertainties contribute to the closed-loop system stability and uniformly ultimately bounded tracking errors.An adaptive dynamic surface control scheme of the quadrotor based on fuzzy uncertainty observer has been proposed in order to eliminate the conservatism of estimation of the uncertainty adaptive compensator to the unknown external disturbances and system uncertainties.First-order filters are employed to reconstruct the designed virtual control signals together with their first derivatives.Fuzzy uncertainty observers are designed to estimate and compensate the unknown external disturbances and uncertainties contribute to the closed-loop system stability and uniformly ultimately bounded tracking errors.Moreover,a filtered sliding mode control scheme of the quadrotor with actuator dynamics has been proposed in order to make theoretical research more practical significance.The controller design is closer to the actual by considering the propeller speed and servo motor dynamics.The filtered sliding mode controller is designed by combining with dynamic surface control and sliding mode control contribute to the closed-loop system stability,uniformly ultimately bounded tracking errors and bounded states.Finally,a fuzzy uncertainty observer based filtered sliding mode control scheme of the quadrotor with actuator dynamics is proposed combining with fuzzy control theory.Fuzzy uncertainty observers are designed to estimate and compensate the unknown external disturbances and uncertainties.The filtered sliding mode controller is designed by combining with sliding mode control contribute to the closed-loop system stability,uniformly ultimately bounded tracking errors and bounded states.