Adaptive Fuzzy Finite-time Attitude Controller Design for Quadrotor UAV with External Disturbances and Uncertain Dynamics

Abstract

This article an adaptive fuzzy finite-time attitude control strategy for quadrotor UAVs under external disturbances and uncertain dynamics. Firstly, a fuzzy logic system (FLS) with sample rules is constructed. Then, an adaptive algorithm is integrated into FLS and nonsingular fast terminal sliding mode manifold, which can achieve the online adjustment of control gains, singularity avoidance, and fast convergence speed. Based on the Lyapunov theorem, it can be proved that the closed-loop system is practical finite-time stable and the tracking errors shall converge to a bounded region small enough in finite time. Lat but not least, compare simulations are performed to demonstrate the availability of the developed control approach.