Abstract
In this paper, an adaptive fuzzy backstepping control approach with PID gain tuning is developed for altitude control of Unmanned Powered Parafoil(UPP) in the presence of model uncertainties and external disturbances. Firstly, the backstepping method based on variable-gain is proposed under a stable velocity, and the form of controller can be simplified through choosing the gain parameter. The fuzzy logic systems (FLS) are employed to approximate model uncertainties, and the adaptive robust item is used to eliminate the approximation errors. Both FLS strength and adaptive laws are obtained through the Lyapunov stability theorem, and uniformly ultimately bounded (UUB) can be guaranteed for the closed-loop system. Finally, the gain parameter of controller is adjusted online by another adaptive fuzzy system. Numerical simulation results are included to verify the control performance of the control approach derived.
Published Version
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