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

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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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Authors and Affiliations

  1. Division Productique et Robotique, Centre de Développement des Technologies Avancées (CDTA), Algiers, Algeria

    Fouad Yacef & Mustapha Hamerlain

  2. Laboratoire MécaTronique (LMT), Université de Jijel, Jijel, Algeria

    Fouad Yacef & Omar Bouhali

  3. Ecole Supérieure des Techniques Aéronautiques et de Construction Automobile (ESTACA), Laval, France

    Nassim Rizoug

Authors
  1. Fouad Yacef
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  2. Omar Bouhali
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  3. Mustapha Hamerlain
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  4. Nassim Rizoug
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Correspondence to Fouad Yacef.

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Yacef, F., Bouhali, O., Hamerlain, M. et al. Observer-based Adaptive Fuzzy Backstepping Tracking Control of Quadrotor Unmanned Aerial Vehicle Powered by Li-ion Battery. J Intell Robot Syst 84, 179–197 (2016). https://doi.org/10.1007/s10846-016-0345-0

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  • DOI: https://doi.org/10.1007/s10846-016-0345-0

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