Barrier Lyapunov function and adaptive backstepping-based control of a quadrotor UAV.
Adel KhadhraouiAmir ZouaouiMohamad SaadPublished in: Robotica (2023)
Keyphrases
- lyapunov function
- nonlinear systems
- adaptive control
- control law
- flight control
- control method
- control algorithm
- control strategy
- tracking error
- adaptive fuzzy
- optimal control
- lyapunov stability theory
- controller design
- stability analysis
- control system
- closed loop
- sufficient conditions
- aerial vehicles
- inverted pendulum
- unmanned aerial vehicles
- fuzzy control
- dynamic environments
- feedback control
- control scheme
- fuzzy systems
- learning rate
- fuzzy controller
- fuzzy model
- control strategies
- path planning
- sliding mode
- expert systems
- pid controller
- fuzzy logic
- mathematical model
- dynamical systems
- hopfield neural network
- fuzzy logic controller
- motion planning
- neural network
- autonomous robots