@article {65163,
	title = {Fuzzy sliding mode control based on backstepping synthesis for unmanned quadrotors, ISSN / e-ISSN 1336-1376 / 1804-3119},
	journal = {Advances in Electrical and Electronic EngineeringAdvances in Electrical and Electronic Engineering},
	volume = {volume 16},
	year = {2018},
	month = {2018},
	pages = {pp 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 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.},
	author = {Ali, Medjghou and Noureddine, Slimane and Kheireddine, CHAFAA}
}
