{"title":"Command Filtered Backstepping Based Finite-Time Adaptive Fuzzy Event-Triggered Control for Unmanned Aerial Vehicle With Full-State Constraints","authors":"Weiyi Zhang;Lin Zhao","doi":"10.1109/TVT.2025.3547694","DOIUrl":null,"url":null,"abstract":"This paper presents a finite-time adaptive fuzzy event-triggered control approach based on command filtered backstepping for addressing the altitude and attitude control problems of unmanned aerial vehicle (UAV) with full-state constraints. Firstly, a finite-time command filter is employed to fast approximate the derivative of the virtual control signal, effectively avoiding the computational complexity issue that existed in traditional backstepping design. Subsequently, an error compensation system has been devised to eliminate the errors generated by the filter. Considering the existence of unknown nonlinear dynamics within the system, the fuzzy adaptive control is adopted to handle them. Finally, an event-triggered control with fixed threshold strategy is proposed to reduce the communication and computation burden between the controller and actuator. It has been proven that the tracking errors can converge to a region close to the origin in finite time and without violating full-state constraints. The validity of the control approach has been verified through simulations and experiments.","PeriodicalId":13421,"journal":{"name":"IEEE Transactions on Vehicular Technology","volume":"74 7","pages":"10162-10174"},"PeriodicalIF":7.1000,"publicationDate":"2025-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Vehicular Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10909560/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents a finite-time adaptive fuzzy event-triggered control approach based on command filtered backstepping for addressing the altitude and attitude control problems of unmanned aerial vehicle (UAV) with full-state constraints. Firstly, a finite-time command filter is employed to fast approximate the derivative of the virtual control signal, effectively avoiding the computational complexity issue that existed in traditional backstepping design. Subsequently, an error compensation system has been devised to eliminate the errors generated by the filter. Considering the existence of unknown nonlinear dynamics within the system, the fuzzy adaptive control is adopted to handle them. Finally, an event-triggered control with fixed threshold strategy is proposed to reduce the communication and computation burden between the controller and actuator. It has been proven that the tracking errors can converge to a region close to the origin in finite time and without violating full-state constraints. The validity of the control approach has been verified through simulations and experiments.
期刊介绍：
The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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