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In this paper, a discrete-time adaptive fuzzy command filtered backstepping control scheme is presented for the altitude and attitude control problems of the quadrotor unmanned aerial vehicle (UAV). The discrete-time controller is designed by using a novel command filtered backstepping method based on the discrete-time system model of the quadrotor, and model uncertainties are handled by using adaptive fuzzy control. Furthermore, the problem of causality is solved by utilizing the first-order filters. The effectiveness of the proposed control scheme is demonstrated by simulation and experiment.
Zhao et al. (Wed,) studied this question.
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