Citation:
Aoun Y, Medjghou A, Slimane N, Maaoui B. Improved Sliding Mode Controller Using Backstepping and Fuzzy Logic for a Quadrotor Aircraft. International Symposium on Mechatronics and Renewable Energies 10- 11 December [Internet]. 2018.
Abstract:
In this work, a new robust nonlinear controller is presented in presence of large external disturbances for a quadrotor aircraft. The controller is based on an improved sliding mode control. The improvement is done by adding two other terms, one is a backstepping synthesis and the other one is a fuzzy logic term in order to reduce the chattering phenomenon and achieve more acceptable performance. The dynamical motion equations are obtained by Euler-Newton formalism. Lyapunov theorem is used to prove the stability of control system. A simulation is carried out to illustrate the effectiveness of the proposed control.