Compound Adaptive Fuzzy Quantized Control for Quadrotor and Its Experimental Verification

Xiuyu Zhang, Yue Wang, Guoqiang Zhu, Xinkai Chen, Zhi Li, Chenliang Wang, Chun Yi Su

Research output: Contribution to journalArticlepeer-review

74 Citations (Scopus)


This article aims to realize a precise position and attitude tracking control for the quadrotor using a proposed fuzzy approximator-based compound adaptive fuzzy quantized control scheme. In the control scheme, a quantized output-feedback control for position tracking and a state-feedback quantized control for attitude trajectory tracking are combined to deal with the underactuated and strong coupling problems of the quadrotor. The main contributions are: 1) the adaptive fuzzy quantized control is realized, then the strong nonlinearities caused by the quantizer are effectively mitigated, which implies that the control precision can be improved when a low communication rate is required in the real-time control system of quadrotor; 2) by applying the adaptive fuzzy dynamic surface control (DSC) technique to the underactuated quadrotor control system, the 'explosion of complexity' problem in the backstepping method is overcome and the L∞ tracking performance is achieved with the proposed initializing technique inspired by Zhang et al. This guarantees that the attitude signals promptly converge to the desired trajectories, then the underactuated problem of the quadrotor is overcome by solving the designed adaptive fuzzy-quantized control equations; and 3) the experiments on the platform of the Quanser Qball-X4 quadrotor are conducted and the effectiveness of the proposed control scheme is validated.

Original languageEnglish
Article number9092979
Pages (from-to)1121-1133
Number of pages13
JournalIEEE Transactions on Cybernetics
Issue number3
Publication statusPublished - 2021 Mar


  • Adaptive quantized control
  • quadrotor
  • robust adaptive control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Compound Adaptive Fuzzy Quantized Control for Quadrotor and Its Experimental Verification'. Together they form a unique fingerprint.

Cite this