Latency-aware attitude control of underactuated quadrotor UAVs using barrier Lyapunov and fuzzy Padé approximation

This work introduces a comprehensive control technique that tackles the significant issue of attitude control in underactuated quadrotor UAVs, particularly accounting for input latency, an often neglected yet vital component in practical applications. A barrier Lyapunov function (BLF) is incorporated to guarantee accurate trajectory tracking and uphold error limits, hence enhancing system stability by restricting the tracking error within a specified range. Furthermore, to alleviate the detrimental impact of input latency on system performance, the suggested framework employs an intermediate variable strategy in conjunction with a Fuzzy Padé approximation technique. This control method markedly improves trajectory precision and system resilience, rendering it ideal for sustainable and mission-critical UAV missions. The efficacy of the method is substantiated by simulation outcomes and further corroborated by hardware implementation on a 3-degree-of-freedom (DOF) hover system by Quanser, ensuring congruence between software and actual performance.