Discrete-Time Adaptive Fuzzy Finite-Time Tracking Control for Quadrotor Unmanned Aerial Vehicle Systems With Disturbances

A discrete-time adaptive fuzzy finite-time command filtered backstepping tracking control is studied for the quadrotor unmanned aerial vehicle systems with disturbances. First, a new discrete-time practical finite-time Lyapunov stability condition is developed for addressing the finite-time tracking control problem for the quadrotor unmanned aerial vehicle. Then, the discrete-time finite-time command filtered backstepping framework is established by designing the fraction-power-based virtual control signal and error compensation signal. The disturbances are estimated by the adaptive control technique. By constructing the weighted Lyapunov function, the tracking error is prove to converge into a desired small neighborhood of the origin. Finally, the simulation and experiment results are given to illustrate the feasibility of the proposed control scheme.