Fast Finite‐Time Adaptive Fuzzy Control for Quadrotor UAV With Output Constraints

ABSTRACT In this paper, an adaptive fuzzy output feedback control method is proposed for stochastic quadrotor unmanned aerial vehicles, which accounts for output constraints and unknown nonlinear functions. In the results of traditional finite‐time stability studies, the control strategy often fails to converge faster than the exponential rate when the initial state is far from the origin. To overcome this issue, we present a novel stochastic fast finite‐time stable controller for quadrotor unmanned aerial vehicles. During the design process, the output constraint problem is addressed by constructing a barrier Lyapunov function. The design leverages a barrier Lyapunov function to handle output constraints and utilizes the fuzzy logic system to model and approximate nonlinearities. Furthermore, a fuzzy logic system observer is designed based on an adaptive backstepping approach to estimate states that cannot be directly measured. Simulation results demonstrate that the proposed control method ensures fast finite‐time stability in probability for the quadrotor system. The validity of the presented scheme is confirmed by simulation results.