Fuzzy Sliding Mode Control Based on Backstepping Synthesis for Unmanned Quadrotors

• Main Authors: Ali Medjghou, Noureddine Slimane, Kheireddine Chafaa
• Format: Article
• Language: English
• Published: VSB-Technical University of Ostrava 2018-01-01
• Series: Advances in Electrical and Electronic Engineering
• Subjects: backstepping techniques; fuzzy logic system; quadrotor; sliding mode control.
• Online Access: http://advances.utc.sk/index.php/AEEE/article/view/2231

The main purpose of this paper is to integrate fuzzy logic technique and backstepping synthesis to sliding mode control to develop a Fuzzy Backstepping-Sliding Mode Controller (FBSMC) to resolve the problem of altitude and attitude tracking control of unmanned quadrotor systems under large external disturbances. First, a backstepping-sliding mode control for quadrotor is introduced. Moreover, a fuzzy logic system is employed to adapt the unknown switching gains to eliminate the chattering phenomenon induced by switching control on the conventional Backstepping-Sliding Mode Controller (BSMC). The dynamical motion equations are obtained by Euler-Newton formalism. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. Simulation results are carried out using Matlab/Simulink environment to illustrate the effectiveness and robustness of the proposed controller.