@article {64827,
	title = {Fuzzy Sliding Mode Control Based on Backstepping Synthesis for Unmanned Quadrotors},
	journal = {Power Engineering and Electrical Engineering Journal, Volume: 16, number: 2, 2018.DOI: 10.15598/aeee.v16i2.2231ISSN 1336-1376 (Print) ISSN 1804-3119 (Online)Power Engineering and Electrical Engineering Journal, Volume: 16, number: 2, 2018.DOI: 10.15598/ae},
	volume = {16},
	year = {2018},
	month = {2018},
	pages = {135-146},
	abstract = {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 EulerNewton 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.},
	author = {Medjghou, Ali and Slimane, Noureddine and Chafaa, Kheireddine}
}
