Command filter-based adaptive fuzzy integral backstepping control for quadrotor UAV with input saturation

This paper presents an adaptive fuzzy integral backstepping control strategy combined with command filter to solve trajectory tracking problem of quadrotor unmanned aerial vehicle (UAV). By using Fuzzy logic system to approximate uncertain disturbance. The tracking error integral term is introduced to reduce the steady-state tracking error. The backstepping approach is combined with the command filter to solve the “computational explosion” problem, and the error compensation mechanism is introduced to reduce the influence of filtering error. The hyperbolic tangent function is used to solve the problem of input saturation. By choosing the appropriate Lyapunov function to calculate the adaptive law for tuning the adjustable parameters of the fuzzy logic system. Morever, the stability of the controller is analyzed by using Lyapunov stability theory. Numerical simulation results are provided to illustrate the effectiveness and superiority of the proposed control method.