Extended State Observer-Based Adaptive Fuzzy Tracking Control for a Quadrotor UAV

Abstract

In this paper, a disturbance observer based robust adaptive fuzzy tracking control algorithm is developed. The problem of trajectory tracking and wind disturbance rejection for a quadrotor unmanned aerial vehicle are investigated. An adaptive fuzzy controller is used to provide good tracking performances for the quadrotor vehicle. While, a state and disturbance observer is employed in order to estimate the immeasurable states and the unknown wind disturbances. The stability analysis of the global controller/observer system is proved using Lyapunov theory. It is shown that all signals in the closed-loop system are uniformly ultimately bounded (UUB). The proposed design can guarantees the desired tracking performances and external wind disturbance rejection. Simulation studies are presented to highlight the efficiency of the proposed control scheme.