Fuzzy-Quantized Elliptical Target Encircling Control of Quadrotors With Arbitrary-Time Convergence

This article addresses a fuzzy-quantized elliptical target encircling control of quadrotors with arbitrary-time convergence, consisting of translational and rotational designs. At the translational level, an arbitrary-time elliptical guidance rule is designed to empower quadrotors to move along the predefined elliptical path within a prescribed settling time free from initial conditions. At the rotational level, a fuzzy-quantized attitude regulation protocol is developed to stabilize the attitude deviation, where a quantized fuzzy logic is artfully constructed to online recover uncertainties via updating weights with finite states scheduled by a hysteresis quantizer, greatly reducing signal transmission burden. Finally, the overall system stability is demonstrated via input-to-state stable principle, while not only simulations but also experiments are given to verify the efficacy of suggested approach.

Automated summary

This article addresses the fuzzy-quantized elliptical target encircling control of quadrotors with arbitrary-time convergence, consisting of translational and rotational designs. The proposed approach includes an arbitrary-time elliptical guidance rule for translational control and a fuzzy-quantized attitude regulation protocol for rotational control. The stability of the overall system is demonstrated and the efficacy of the approach is verified through simulations and experiments.