Adaptive fuzzy backstepping control for underactuated quadrotor UAV

This paper introduces an adaptive fuzzy backstepping control strategy for underactuated quadrotor UAV. The strategy can overcome some shortcomings of traditional backstepping control method, such as the underactuated control law is too complex, tracking performance is sensitive to modeling errors and weak anti-interference ability etc. In order to achieve high precision control of the underactuated quadrotor UAV, the algorithm uses the adaptive fuzzy system to estimate the nonlinear function and the interference and to use the fuzzy system to structure virtual control law of the system. Taking the x axis of the underactuated quadrotor UAV as an example, we discuss in detail the design procedure of control law. The controller's stability is analyzed. The simulation results and their analysis show preliminarily that the proposed approach can guarantee the control accuracy and has a strong robustness.