Finite-Time Adaptive Fuzzy Quantized Control for a Quadrotor UAV

In this paper, a finite-time command filtered backstepping (FTCFB) adaptive trajectory tracking control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) with quantized inputs and external disturbances. For the position subsystem and attitude subsystem, a finite-time command filter is introduced to faster approximate the derivative of virtual control signal, which can effectively avoid the problem of explosion of complexity inherent in the traditional backstepping design procedure. The fractional order error compensation mechanism is designed to remove the filter error, and it further improves control performance. From the Lyapunov stability theory, the boundedness of all signals in the closed-loop system is rigorously proved, and the position and attitude tracking errors can converge to a small neighborhood of the origin in finite-time. Finally, a numerical example is conducted to intuitively show the validity of the developed control scheme.