To solve the instability problem in quadrotor control system subject to parametric uncertainties and external disturbances, an attitude control approach integrated with adaptive fuzzy gain-scheduling desired model compensation robust integral of the sign of the error is proposed. Firstly, the original cascade model of attitude motion is transformed into a strict feedback form with lumped disturbances. Secondly, a desired model compensation robust integral of the sign of the error controller is designed to regulate attitude motion for its invariant properties to lumped disturbances, replacing the velocity state in model-based feedforward control with expected value to ensure the robustness of the system against uncertainties without velocity information. To mitigate the chattering caused by continuous switching control, the fuzzy logic system is used to construct the proposed robust control algorithm, in which robust integral feedback gains associated with the sign function based on fuzzy rules are adaptive scheduled, with the filter tracking error and its derivative as inputs to the fuzzy logic system and robust integral feedback gains as outputs. The stability of the designed closed-loop system is verified by analyzing the convergence of output errors. Finally, the effectiveness and robustness of the proposed method in dealing with the stability of the control system are fully demonstrated by extensive simulations and platform experiments.

中文翻译：

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自适应模糊增益调度鲁棒控制，确保四旋翼飞行器的稳定性


针对四旋翼控系统受参数不确定性和外部干扰影响的不稳定问题，该文提出一种融合自适应模糊增益调度期望模型补偿误差符号鲁棒积分的姿态控制方法。首先，将原来的姿态运动级联模型转化为具有集总扰动的严格反馈形式;其次，设计了误差控制器符号的理想模型补偿鲁棒积分，以调节姿态运动的不变性质对集总扰动的影响，将基于模型的前馈控制中的速度状态替换为期望值，以确保系统在没有速度信息的情况下对不确定性的鲁棒性。为了减轻连续开关控制引起的颤振，采用模糊逻辑系统构建了所提出的鲁棒控制算法，其中基于模糊规则的符号函数相关的鲁棒积分反馈增益是自适应调度的，滤波器跟踪误差及其导数作为模糊逻辑系统的输入，鲁棒积分反馈增益作为输出。通过分析输出误差的收敛性，验证了所设计的闭环系统的稳定性。最后，通过大量的仿真和平台实验，充分证明了所提方法在处理控制系统稳定性方面的有效性和鲁棒性。