Narrow Gaps Crossing Flight Trajectory Tracking for MUAVs Using Adaptive Fuzzy Balance Control

Micro unmanned aerial vehicles (MUAVs) often need to perform maneuvering in an unstructured environment with narrow gaps and confined spaces in-between obstacles due to low-altitude flight. Therefore, this paper proposes a feasible flying trajectories planning scheme based on micro drones orientations and dynamics for the micro drones with external disturbances to pass through narrowly in-between obstacles to the desired position. In order to incorporate quadrotor’ orientations and dynamics into the flying trajectory planning, we first consider the dynamics modeling within the ellipsoidal coordinates, and employ the convex separation hyperplane theorem of the flight constraints to set up the trajectory. As for controlling the quadrotor, an online adaptive fuzzy control is used to achieve robust tracking performance even under disturbances. Finally, five drones flying experiments under various flying constraints are used to show the effectiveness of the proposed scheme to follow a feasible and obstacles gaps trajectory and reach the desired position.