Command Filtered Backstepping Based Finite-Time Adaptive Fuzzy Event-Triggered Control for Unmanned Aerial Vehicle With Full-State Constraints

This paper presents a finite-time adaptive fuzzy event-triggered control approach based on command filtered backstepping for addressing the altitude and attitude control problems of unmanned aerial vehicle (UAV) with full-state constraints. Firstly, a finite-time command filter is employed to fast approximate the derivative of the virtual control signal, effectively avoiding the computational complexity issue that existed in traditional backstepping design. Subsequently, an error compensation system has been devised to eliminate the errors generated by the filter. Considering the existence of unknown nonlinear dynamics within the system, the fuzzy adaptive control is adopted to handle them. Finally, an event-triggered control with fixed threshold strategy is proposed to reduce the communication and computation burden between the controller and actuator. It has been proven that the tracking errors can converge to a region close to the origin in finite time and without violating full-state constraints. The validity of the control approach has been verified through simulations and experiments.