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Event-Based Adaptive Fuzzy Asymptotic Tracking Control of Quadrotor Unmanned Aerial Vehicle with Obstacle Avoidance

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Abstract

This article addresses the trajectory tracking control for quadrotor unmanned aerial vehicle (QUAV) with unknown external disturbances and system uncertainties. Dividing the QUAV into position subsystem and attitude subsystem, a novel adaptive fuzzy event-triggered trajectory tracking control is developed considering obstacle avoidance. An artificial potential function is incorporated into the control design to avoid obstacles, and the control algorithm is updated in an aperiodic form under the event-trigger mechanism with a relative threshold. In addition, compensating terms are introduced to counteract the effects caused by the uncertain dynamics of the QUAV and the event-triggered mechanism, such that the asymptotic trajectory tracking control of the QUAV is successfully achieved. Simulation results are provided to demonstrate the effectiveness of the presented control scheme.

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Acknowledgements

The research was supported in part by Natural Science Foundation of Liaoning Province (2019-BS-119), Liaoning Revitalization Talents Program (XLYC2007014), and Key Laboratory of Intelligent Manufacturing Technology (Shantou University), Ministry of Education (202109244).

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Authors and Affiliations

  1. School of Electrical Engineering, Liaoning University of Technology, Jinzhou, Liaoning, People’s Republic of China

    Peiyun Ye, Yang Yu & Wei Wang

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  1. Peiyun Ye
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  2. Yang Yu
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Correspondence to Yang Yu.

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Ye, P., Yu, Y. & Wang, W. Event-Based Adaptive Fuzzy Asymptotic Tracking Control of Quadrotor Unmanned Aerial Vehicle with Obstacle Avoidance. Int. J. Fuzzy Syst. 24, 3174–3188 (2022). https://doi.org/10.1007/s40815-022-01330-y

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  • DOI: https://doi.org/10.1007/s40815-022-01330-y

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