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Fuzzy Approximation-Based Adaptive Finite-Time Tracking Control for a Quadrotor UAV with Actuator Faults

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Abstract

This article focuses on the problem of adaptive finite-time trajectory tracking control for a quadrotor unmanned aerial vehicle (UAV) with actuator faults. By introducing a novel finite-time command filter, the derivative of virtual control law is approximated, so the issue of “explosion of complexity” is successfully avoided. At the same time, the fractional power error compensation mechanism is constructed to quickly remove the effect of filtered error. By virtue of the command filter technique, backstepping design method, and event-triggered control strategy, the adaptive finite-time fault-tolerant controllers for a quadrotor UAV are designed. It is demonstrated that all signals of the closed-loop system are finite time bounded, and the attitude and position tracking errors can converge to a small neighborhood near the origin in a finite time. Finally, the simulation examples are given to validate the efficacy of the developed adaptive finite-time control algorithm.

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Acknowledgements

This work was supported in part by the Natural Science Fund for Excellent Young Scholars of Jiangsu Province under Grant BK20211605.

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Authors and Affiliations

  1. School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou, 215009, China

    Wei Yang, Guozeng Cui, Ze Li & Chongben Tao

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  1. Wei Yang
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  2. Guozeng Cui
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  3. Ze Li
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  4. Chongben Tao
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Correspondence to Guozeng Cui.

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Yang, W., Cui, G., Li, Z. et al. Fuzzy Approximation-Based Adaptive Finite-Time Tracking Control for a Quadrotor UAV with Actuator Faults. Int. J. Fuzzy Syst. 24, 3756–3769 (2022). https://doi.org/10.1007/s40815-022-01361-5

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