A fuzzy adaptive backstepping control based on mass observer for trajectory tracking of a quadrotor UAV

SUMMARY In this paper, a fuzzy adaptive backstepping control law that combines mass observer and fuzzy control strategy with backstepping control is developed for the trajectory tracking control of a quadrotor unmanned aerial vehicle. In the control law, the mass change disturbance to the flight control could be restrained by the mass observer to estimate the real‐time mass and correct the mass parameter of the quadrotor, and the time‐varying external disturbance to the flight control could be restrained by fuzzy compensation of the fuzzy control law. Lyapunov stability theorem is used to analyze the stability of the closed‐loop control system. Two cases of trajectory tracking numerical simulations are presented in MATLAB/SIMULINK simulation environment. In addition, the quadrotor hovering experiment was completed on the actual flight experimental system with the time‐varying disturbance from wind outdoors. The simulation and actual flight results illustrate that the proposed control strategy is effective and stable under the simulating environment and the actual environment.