Compound Adaptive Fuzzy Quantized Control for Quadrotor and Its Experimental Verification

Xiuyu Zhang, Yue Wang, Guoqiang Zhu, Xinkai Chen, Zhi Li, Chenliang Wang, Chun Yi Su

研究成果: Article査読

6 被引用数 (Scopus)

抄録

This article aims to realize a precise position and attitude tracking control for the quadrotor using a proposed fuzzy approximator-based compound adaptive fuzzy quantized control scheme. In the control scheme, a quantized output-feedback control for position tracking and a state-feedback quantized control for attitude trajectory tracking are combined to deal with the underactuated and strong coupling problems of the quadrotor. The main contributions are: 1) the adaptive fuzzy quantized control is realized, then the strong nonlinearities caused by the quantizer are effectively mitigated, which implies that the control precision can be improved when a low communication rate is required in the real-time control system of quadrotor; 2) by applying the adaptive fuzzy dynamic surface control (DSC) technique to the underactuated quadrotor control system, the 'explosion of complexity' problem in the backstepping method is overcome and the L∞ tracking performance is achieved with the proposed initializing technique inspired by Zhang et al. This guarantees that the attitude signals promptly converge to the desired trajectories, then the underactuated problem of the quadrotor is overcome by solving the designed adaptive fuzzy-quantized control equations; and 3) the experiments on the platform of the Quanser Qball-X4 quadrotor are conducted and the effectiveness of the proposed control scheme is validated.

本文言語English
論文番号9092979
ページ(範囲)1121-1133
ページ数13
ジャーナルIEEE Transactions on Cybernetics
51
3
DOI
出版ステータスPublished - 2021 3

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 情報システム
  • 人間とコンピュータの相互作用
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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