Quantized Fuzzy Fixed-Time Target Tracking With Uncertainties for Consumer UAVs
Tianyu Xing, Jintao Zhang, Yi Xia, Xiangwang Hou, Zekai Zhang, Yong Ren · IEEE Transactions on Consumer Electronics · 2024
Consumer unmanned aerial vehicles (UAVs) are increasingly emphasized in various fields due to the great progress of technology. The target tracking technology can significantly improve the maneuverability and autonomous flight capabilities of consumer UAVs, revealing its wide prospects in tracking photography and logistics transportation. The unresolved challenges in consumer UAVs include limited on-board resources, weak anti-disturbance capability, and the need for improved target tracking performances. Therefore, this paper investigates a novel fixed-time target tracking control law for UAVs using discrete data transmissions while considering unknown uncertainties. Firstly, by devising a discrete signal to update regulation in fuzzy logic, a hysteresis quantized fuzzy unknown disturbance estimator (HQFUDE) is proposed for UAVs to accommodate unknown wind disturbances, where the fuzzy weights are updated based on finite states, releasing signal transmission burden effectively. Subsequently, a fixed-time target tracking protocol is proposed to enhance the capabilities of UAVs in rapidly converging to the prescribed trajectory within an explicit settling time free from initial deviations, wherein a radial error switch item featured with the value 1 as the cut-off point is constructed to enable a fast decaying rate. The closed-loop system is analyzed to be uniformly ultimately bounded. Simulation results verify the superiority of the proposed method.