Adaptive Designated‐Time Fuzzy Tracking for Quadrotor Unmanned Aerial Vehicles With Stochastic Disturbance

ABSTRACT

In this paper, an adaptive designated‐time output feedback tracking method for a quadrotor unmanned aerial vehicle, capable of handling systems with stochastic disturbances while accounting for unobservable states and unknown nonlinear functions. By integrating stochastic theory with designated‐time strategy, an innovative stochastic designated‐time stability control mechanism suitable for quadrotor unmanned aerial vehicles is introduced for the first time. Subsequently, computational complexity was reduced through dynamic surface control technology, whilst the fuzzy logic system approximated the unknown nonlinear functions within the system. Furthermore, an FLS‐based observer employing adaptive backstepping is designed to estimate unobservable states. The study demonstrates that this control approach ensures probabilistic semi‐global stability and designated time stability for all states in the closed‐loop system. Concurrently, both the system output error and observer error enter a small neighborhood near the origin. Simulation outcomes validate the effectiveness of the proposed approach.